Stabilization of the Furuta pendulum based on a Lyapunov function

被引：21

作者：

Aguilar Ibanez, Carlos ^{[1
]}

Sossa Azuela, Juan H. ^{[1
]}

机构：

[1] Inst Politecn Nacl, Ctr Invest Computac, Mexico City, DF, Mexico

来源：

NONLINEAR DYNAMICS | 2007年 / 49卷 / 1-2期

关键词：

Lyapunov function; stabilization of the Furuta pendulum;

D O I：

10.1007/s11071-006-9099-8

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.

引用

页码：1 / 8

页数：8

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