A control energy approach for the stabilization of the rigid beam balanced by the cart

Carlos F. Aguilar-Ibañez; F. Guzmán-Aguilar; Rogelio Lozano; Juan C. Chimal E

doi:10.1002/rnc.1371

A control energy approach for the stabilization of the rigid beam balanced by the cart

Carlos F. Aguilar-Ibañez, F. Guzmán-Aguilar, Rogelio Lozano, Juan C. Chimal E

Centro de Investigación en Computación (CIC)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

In this paper we present a control strategy for the stabilization of a rigid beam balanced by a cart. The control problem consists of horizontally balancing the beam by moving the cart backwards and forwards along the beam. The cart movement is restricted to always remain over the beam. The control strategy is based on the interconnection and damping assignment passivity based controller. The stability analysis is carried out using LaSalles's theorem.

Original language	English
Pages (from-to)	1278-1289
Number of pages	12
Journal	International Journal of Robust and Nonlinear Control
Volume	19
Issue number	11
DOIs	https://doi.org/10.1002/rnc.1371
State	Published - 25 Jul 2009

Keywords

Euler-lagrange system
Passivity based controller
Under-actuated system

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10.1002/rnc.1371

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AU - Chimal E, Juan C.

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AB - In this paper we present a control strategy for the stabilization of a rigid beam balanced by a cart. The control problem consists of horizontally balancing the beam by moving the cart backwards and forwards along the beam. The cart movement is restricted to always remain over the beam. The control strategy is based on the interconnection and damping assignment passivity based controller. The stability analysis is carried out using LaSalles's theorem.

KW - Euler-lagrange system

KW - Passivity based controller

KW - Under-actuated system

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ER -

A control energy approach for the stabilization of the rigid beam balanced by the cart

Abstract

Keywords

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