Improvements in direct Lyapunov stabilization of underactuated, mechanical systems

被引：7
|
作者：
White, Warren N. [1 ]
Foss, Mikil [2 ]
Patenaude, Jaspen [3 ]
Guo, Xin [4 ]
Garcia, Deyka [3 ]
机构：
[1] Kansas State Univ, Mech & Nucl Engn Dept, Manhattan, KS 66506 USA
[2] Univ Nebraska, Dept Math, Lincoln, NE 68588 USA
[3] Kansas State Univ, Dept Mech Engn, Manhattan, KS 66506 USA
[4] Samsung Informat Syst America, San Jose, CA USA
来源：
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
基金：
美国国家科学基金会;
关键词：
D O I：
10.1109/ACC.2008.4586940
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A Lyapunov direct method is presented for the stabilization of underactuated, mechanical systems. The Lyapunov approach provides the tools for control law design. This work represents a continued development of previously published techniques. The major contribution of the presentation is that a method is demonstrated for assuring the positive definiteness of certain matrices associated with the formulation. A stabilization example using the rotary inverted pendulum is included.
引用
收藏
页码：2927 / +
页数：2
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