Direct Lyapunov approach for stabilization of underactuated mechanical systems

被引：0
|
作者：
White, Warren N. [1 ]
Foss, Mikil [2 ]
Guo, Xin [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 Engn Mech, Manhattan, KS 66506 USA
来源：
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 | 2007年
基金：
美国国家科学基金会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Control of underactuated systems is treated from a Lyapunov direct method approach. The method results in a set of three matching conditions, the solution of which is easily accomplished. The method developed is capable of treating more complicated systems than that reported in an earlier publication. The suitability of the Lyapunov candidate function is demonstrated through mathematical proofs. An application of the method to the ball and beam is presented.
引用
收藏
页码：4837 / +
页数：2
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