Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach

被引：9

作者：

Turker, Turker ^{[1
]}

Gorgun, Haluk ^{[1
]}

Cansever, Galip ^{[1
]}

机构：

[1] Yildiz Tech Univ, Dept Control & Automat Engn, TR-34220 Istanbul, Turkey

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2013年 / 86卷 / 06期

关键词：

Lyapunov-based stabilisation; underactuated mechanical systems; pendulum on a cart; Furuta pendulum; CONTROLLED LAGRANGIANS; INTERCONNECTION;

D O I：

10.1080/00207179.2013.784809

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper represents an alternative stabilisation procedure for a class of two degree-of-freedom underactuated mechanical systems based on a set of transformations and a Lyapunov function. After simplifying dynamic equations of the system via partial feedback linearisation and coordinate changes, the stability of the system is provided with Lyapunov's direct method. Proposed control scheme is used on two different examples and asymptotic convergence for each system is proven by means of La Salle's invariance principle. The designed controller is successfully illustrated through numerical simulations for each example.

引用

页码：1137 / 1148

页数：12

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