Lyapunov-based controller for the inverted pendulum cart system

被引：53
|
作者：
Ibañez, CA [1 ]
Frias, OG [1 ]
Castañón, MS [1 ]
机构：
[1] Inst Politecn Nacl, Ctr Invest Computac, Unidad Profes Adolfo Lopez Mateos, Mexico City 07738, DF, Mexico
来源：
NONLINEAR DYNAMICS | 2005年 / 40卷 / 04期
关键词：
Lyapunov-based control; nonlinear systems; under-actuated system;
D O I：
10.1007/s11071-005-7290-y
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.
引用
收藏
页码：367 / 374
页数：8
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