TY - GEN
T1 - A constructive Lyapunov function for controlling the inverted pendulum
AU - Aguilar-Ibañez, Carlos
PY - 2008
Y1 - 2008
N2 - A constructive control strategy is presented for the stabilization of the inverted pendulum system. Under the assumption that the pendulum is initialized above the upper half plane. To carried out, a suitable procedure is presented in order to find a candidate Lyapunov function, for the whole system. Then the control is proposed directly from the obtained Lyapunov, in such a way, that its time derivative be semi-definite negative with respect to a convenient manifold. Finally, the asymptotically stability of the closed-loop system is concluded by LaSalle theorem.
AB - A constructive control strategy is presented for the stabilization of the inverted pendulum system. Under the assumption that the pendulum is initialized above the upper half plane. To carried out, a suitable procedure is presented in order to find a candidate Lyapunov function, for the whole system. Then the control is proposed directly from the obtained Lyapunov, in such a way, that its time derivative be semi-definite negative with respect to a convenient manifold. Finally, the asymptotically stability of the closed-loop system is concluded by LaSalle theorem.
KW - Lyapunov approach
KW - Non-linear system
KW - Underactuated mechanical system
UR - http://www.scopus.com/inward/record.url?scp=52449085226&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4587311
DO - 10.1109/ACC.2008.4587311
M3 - Contribución a la conferencia
AN - SCOPUS:52449085226
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 5145
EP - 5149
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -