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Lyapunov Based Controller for the Inverted Pendulum Cart System
| Content Provider | Semantic Scholar |
|---|---|
| Author | Aguilar, Carlos Gutiérrez Gutiérrez, Octavio |
| Copyright Year | 2004 |
| Abstract | 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. Key-Words: Under Actuated System; Nonlinear Systems; Lyapunov-Based Control. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.wseas.us/e-library/conferences/venice2004/papers/472-109.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Closed-loop transfer function Control theory Controllers Inverted pendulum Lyapunov fractal Nonlinear system Stage level 1 Unstable Medical Device Problem |
| Content Type | Text |
| Resource Type | Article |