Lyapunov-based controller for the inverted pendulum cart system

Carlos Aguilar Ibañez; O. Gutiérrez Frias; M. Suárez Castañón

doi:10.1007/s11071-005-7290-y

Lyapunov-based controller for the inverted pendulum cart system

Carlos Aguilar Ibañez, O. Gutiérrez Frias, M. Suárez Castañón

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

76 Citas (Scopus)

Resumen

A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.

Idioma original	Inglés
Páginas (desde-hasta)	367-374
Número de páginas	8
Publicación	Nonlinear Dynamics
Volumen	40
N.º	4
DOI	https://doi.org/10.1007/s11071-005-7290-y
Estado	Publicada - jun. 2005

Acceder al documento

10.1007/s11071-005-7290-y

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

@article{62f855aa14544c31afd73189306d4e9a,

title = "Lyapunov-based controller for the inverted pendulum cart system",

abstract = "A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.",

keywords = "Lyapunov-based control, Nonlinear systems, Under-actuated system",

author = "Iba{\~n}ez, {Carlos Aguilar} and Frias, {O. Guti{\'e}rrez} and Casta{\~n}{\'o}n, {M. Su{\'a}rez}",

note = "Funding Information: This work was supported by CIC-IPN and by the Coordinaci{\'o}n General de Posgrado e Investigaci{\'o}n (CGPI-IPN) under research Grant 20040877. This paper is dedicated to the memory of Professor Leopoldo Arustegui (CBTIS 78).",

year = "2005",

month = jun,

doi = "10.1007/s11071-005-7290-y",

language = "Ingl{\'e}s",

volume = "40",

pages = "367--374",

journal = "Nonlinear Dynamics",

issn = "0924-090X",

number = "4",

}

TY - JOUR

T1 - Lyapunov-based controller for the inverted pendulum cart system

AU - Ibañez, Carlos Aguilar

AU - Frias, O. Gutiérrez

AU - Castañón, M. Suárez

N1 - Funding Information: This work was supported by CIC-IPN and by the Coordinación General de Posgrado e Investigación (CGPI-IPN) under research Grant 20040877. This paper is dedicated to the memory of Professor Leopoldo Arustegui (CBTIS 78).

PY - 2005/6

Y1 - 2005/6

N2 - A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.

AB - A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.

KW - Lyapunov-based control

KW - Nonlinear systems

KW - Under-actuated system

UR - http://www.scopus.com/inward/record.url?scp=18744388846&partnerID=8YFLogxK

U2 - 10.1007/s11071-005-7290-y

DO - 10.1007/s11071-005-7290-y

M3 - Artículo

SN - 0924-090X

VL - 40

SP - 367

EP - 374

JO - Nonlinear Dynamics

JF - Nonlinear Dynamics

IS - 4

ER -

Lyapunov-based controller for the inverted pendulum cart system

Resumen

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto