Stabilization of the furuta pendulum based on a Lyapunov function

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Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)1-8
Número de páginas8
PublicaciónNonlinear Dynamics
Volumen49
N.º1-2
DOI
EstadoPublicada - jul. 2007

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