TY - GEN
T1 - On the stabilization of the ball and beam system using a direct Lyapunov method
AU - Aguilar-Ibãnez, Carlos
PY - 2009
Y1 - 2009
N2 - I presents the stabilization of the ball on the actuated beam, whether the damping force acts or not in the non-actuated coordinate. The control law is based on the application of the traditional Lyapunov method. The balance strategy consists of shaping a convenient energy function that allow us to derive the required asymptotic stabilizing controller. To this end, we subtle introduce an auxiliary control variable in order to algebraically obtain the kinetic metric and the potential energy of the whole system. The formed positive energy function in conjunction with the proposed feedback controller assures that the whole system be a dissipative one.
AB - I presents the stabilization of the ball on the actuated beam, whether the damping force acts or not in the non-actuated coordinate. The control law is based on the application of the traditional Lyapunov method. The balance strategy consists of shaping a convenient energy function that allow us to derive the required asymptotic stabilizing controller. To this end, we subtle introduce an auxiliary control variable in order to algebraically obtain the kinetic metric and the potential energy of the whole system. The formed positive energy function in conjunction with the proposed feedback controller assures that the whole system be a dissipative one.
KW - Euler-Lagrange equations
KW - Lyapunov direct method
KW - Lyapunov stability
KW - Under-actuated mechanical systems
UR - http://www.scopus.com/inward/record.url?scp=77949815723&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2009.5393462
DO - 10.1109/ICEEE.2009.5393462
M3 - Contribución a la conferencia
AN - SCOPUS:77949815723
SN - 9781424446896
T3 - 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009
BT - 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009
T2 - 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009
Y2 - 10 November 2009 through 13 November 2009
ER -