Estabilizacíon del péndulo invertido sobre dos ruedas mediante el método de lyapunov

O. Octavio Gutiérrez Frias

doi:10.1016/j.riai.2012.11.003

Estabilizacíon del péndulo invertido sobre dos ruedas mediante el método de lyapunov

O. Octavio Gutiérrez Frias

Unidad Profesional Interdisciplinaria de Ingeniería y Tecnologías Avanzadas (UPIITA)

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

3 Citas (Scopus)

Resumen

In this paper, a nonlinear controller is presented for the stabilization of the two wheels inverted pendulum. The control strategy is based on partial feedback linealization, in first stage and then a suitable function Lyapunov in conjunction with LaSalle's invariance principle is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain of attraction.

Título traducido de la contribución	Stabilization of the two wheels inverted pendulum by means lyapunov approach
Idioma original	Español
Páginas (desde-hasta)	30-36
Número de páginas	7
Publicación	RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Volumen	10
N.º	1
DOI	https://doi.org/10.1016/j.riai.2012.11.003
Estado	Publicada - 2013

Palabras clave

Lyapunov approach
Non-linear control
Two wheels inverted pendulum
Under actuated system

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10.1016/j.riai.2012.11.003

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title = "Estabilizac{\'i}on del p{\'e}ndulo invertido sobre dos ruedas mediante el m{\'e}todo de lyapunov",

abstract = "In this paper, a nonlinear controller is presented for the stabilization of the two wheels inverted pendulum. The control strategy is based on partial feedback linealization, in first stage and then a suitable function Lyapunov in conjunction with LaSalle's invariance principle is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain of attraction.",

keywords = "Lyapunov approach, Non-linear control, Two wheels inverted pendulum, Under actuated system",

author = "{Octavio Guti{\'e}rrez Frias}, O.",

year = "2013",

doi = "10.1016/j.riai.2012.11.003",

language = "Espa{\~n}ol",

volume = "10",

pages = "30--36",

journal = "RIAI - Revista Iberoamericana de Automatica e Informatica Industrial",

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AU - Octavio Gutiérrez Frias, O.

PY - 2013

Y1 - 2013

N2 - In this paper, a nonlinear controller is presented for the stabilization of the two wheels inverted pendulum. The control strategy is based on partial feedback linealization, in first stage and then a suitable function Lyapunov in conjunction with LaSalle's invariance principle is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain of attraction.

AB - In this paper, a nonlinear controller is presented for the stabilization of the two wheels inverted pendulum. The control strategy is based on partial feedback linealization, in first stage and then a suitable function Lyapunov in conjunction with LaSalle's invariance principle is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain of attraction.

KW - Lyapunov approach

KW - Non-linear control

KW - Two wheels inverted pendulum

KW - Under actuated system

UR - http://www.scopus.com/inward/record.url?scp=84874438616&partnerID=8YFLogxK

U2 - 10.1016/j.riai.2012.11.003

DO - 10.1016/j.riai.2012.11.003

M3 - Artículo

AN - SCOPUS:84874438616

SN - 1697-7912

VL - 10

SP - 30

EP - 36

JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

IS - 1

ER -

Estabilizacíon del péndulo invertido sobre dos ruedas mediante el método de lyapunov

Resumen

Palabras clave

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Huella

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