TY - GEN
T1 - Lyapunov method for the controlling of the two wheels inverted pendulum
AU - Gutiérrez Frías, O. Octavio
PY - 2011
Y1 - 2011
N2 - In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such a way that the closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain attraction.
AB - In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such a way that the closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain attraction.
KW - Lyapunov Method
KW - Non-Linear Control
KW - Two Wheels Inverted Pendulum
KW - Underactuated System
UR - http://www.scopus.com/inward/record.url?scp=84855805123&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2011.6106627
DO - 10.1109/ICEEE.2011.6106627
M3 - Contribución a la conferencia
AN - SCOPUS:84855805123
SN - 9781457710117
T3 - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
BT - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
T2 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2011
Y2 - 26 October 2011 through 28 October 2011
ER -