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)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	1278-1289
Número de páginas	12
Publicación	International Journal of Robust and Nonlinear Control
Volumen	19
N.º	11
DOI	https://doi.org/10.1002/rnc.1371
Estado	Publicada - 25 jul. 2009

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AU - Chimal E, Juan C.

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Y1 - 2009/7/25

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

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