TY - JOUR
T1 - Stabilization of the inverted spherical pendulum via Lyapunov approach
AU - Gutiérrez F., O. Octavio
AU - Ibánẽz, Carlos Aguilar
AU - Sossa A., Humberto
PY - 2009/11
Y1 - 2009/11
N2 - In this paper a nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle's invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point, with the position of the movable base at the origin. The obtained closed-loop system has a very large domain of attraction, that can be as large as desired, for any initial position of the pendulum which lies above the horizontal plane.
AB - In this paper a nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle's invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point, with the position of the movable base at the origin. The obtained closed-loop system has a very large domain of attraction, that can be as large as desired, for any initial position of the pendulum which lies above the horizontal plane.
KW - Lyapunov-based control
KW - Nonlinear systems
KW - Under-actuated system
UR - http://www.scopus.com/inward/record.url?scp=72649084523&partnerID=8YFLogxK
U2 - 10.1002/asjc.140
DO - 10.1002/asjc.140
M3 - Artículo
SN - 1561-8625
VL - 11
SP - 587
EP - 594
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 6
ER -