TY - JOUR
T1 - Stabilization of the furuta pendulum based on a Lyapunov function
AU - Ibáñez, Carlos Aguilar
AU - Azuela, Juan H.Sossa
N1 - Funding Information:
Acknowledgment This work was supported by CIC-IPN and the Secretaría General de Investigación (SIP-IPN) under research grant 20061128.
PY - 2007/7
Y1 - 2007/7
N2 - We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.
AB - We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.
KW - Lyapunov function
KW - Stabilization of the Furuta pendulum
UR - http://www.scopus.com/inward/record.url?scp=34248372861&partnerID=8YFLogxK
U2 - 10.1007/s11071-006-9099-8
DO - 10.1007/s11071-006-9099-8
M3 - Artículo
SN - 0924-090X
VL - 49
SP - 1
EP - 8
JO - Nonlinear Dynamics
JF - Nonlinear Dynamics
IS - 1-2
ER -