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.
Original language | English |
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Pages (from-to) | 367-374 |
Number of pages | 8 |
Journal | Nonlinear Dynamics |
Volume | 40 |
Issue number | 4 |
DOIs | |
State | Published - Jun 2005 |
Keywords
- Lyapunov-based control
- Nonlinear systems
- Under-actuated system