TY - GEN
T1 - Stabilizing the damped inverted pendulum cart system by means of a cascade chain of integrators
AU - Aguilar-Ibañez, Carlos
AU - Mendoza-Mendoza, Julio A.
AU - Martinez, J. C.
AU - Castanón, Miguel S.Suárez
PY - 2013
Y1 - 2013
N2 - In this work, we introduce a smooth control law to stabilize the damped inverted pendulum cart, assuming that the pendulum is initialized in the upper-half plane, and the linear viscous force is known. To this end suitable nonlinear transformations to express the system as if it were a four order chain of integrator and perturbed by a nonlinear function that diminished in the origin. Then, a convenient control law consisted of saturation functions for the system in its new form is designed. The corresponding stability analysis were carried out with several Lyapunov functions. The effectiveness of the obtained control law was assessed with numerical simulations.
AB - In this work, we introduce a smooth control law to stabilize the damped inverted pendulum cart, assuming that the pendulum is initialized in the upper-half plane, and the linear viscous force is known. To this end suitable nonlinear transformations to express the system as if it were a four order chain of integrator and perturbed by a nonlinear function that diminished in the origin. Then, a convenient control law consisted of saturation functions for the system in its new form is designed. The corresponding stability analysis were carried out with several Lyapunov functions. The effectiveness of the obtained control law was assessed with numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=84894126079&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE.2013.43
DO - 10.1109/ICMEAE.2013.43
M3 - Contribución a la conferencia
AN - SCOPUS:84894126079
SN - 9781479922536
T3 - Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
SP - 146
EP - 151
BT - Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
T2 - 2013 IEEE International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
Y2 - 19 November 2013 through 22 November 2013
ER -