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

页码：2927 / +

页数：2

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