TY - GEN
T1 - Control of the Furuta Pendulum by using a Lyapunov function
AU - Aguilar-Ibañez, Carlos
AU - Gutierrez F., Octavio
AU - Sossa-Azuela, Humberto
PY - 2006
Y1 - 2006
N2 - A Lyapunov based control approach is proposed for the stabilization of the under actuated Furuta Pendulum. First, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, it proceeds to find a candidate Lyapunov function, and them, a stabilizing controller is derived from the obtained candidate function. The proposed closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.
AB - A Lyapunov based control approach is proposed for the stabilization of the under actuated Furuta Pendulum. First, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, it proceeds to find a candidate Lyapunov function, and them, a stabilizing controller is derived from the obtained candidate function. The proposed closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.
UR - http://www.scopus.com/inward/record.url?scp=39649087141&partnerID=8YFLogxK
U2 - 10.1109/cdc.2006.376943
DO - 10.1109/cdc.2006.376943
M3 - Contribución a la conferencia
AN - SCOPUS:39649087141
SN - 1424401712
SN - 9781424401710
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6128
EP - 6132
BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 45th IEEE Conference on Decision and Control 2006, CDC
Y2 - 13 December 2006 through 15 December 2006
ER -