TY - JOUR
T1 - The direct Lyapunov method for the stabilisation of the Furuta pendulum
AU - Aguilar-Ibañez, Carlos
AU - Suárez-Castañón, Miguel S.
AU - Gutiérres-Frias, Oscar O.
N1 - Funding Information:
This article was supported by the Secretaría de Investigación y Postgrado of the Instituto Politécnico Nacional (SIP-IPN) under the research grants 20100587 and 20101756.
PY - 2010/11
Y1 - 2010/11
N2 - A nonlinear controller for the stabilisation of the Furuta pendulum is presented. The control strategy is based on a partial feedback linearisation. In a first stage only the actuated coordinate of the Furuta pendulum is linearised. Then, the stabilising feedback controller is obtained by applying the Lyapunov direct method. That is, using this method we prove local asymptotic stability and demonstrate that the closed-loop system has a large region of attraction. The stability analysis is carried out by means of LaSalle's invariance principle. To assess the controller effectiveness, the results of the corresponding numerical simulations are presented.
AB - A nonlinear controller for the stabilisation of the Furuta pendulum is presented. The control strategy is based on a partial feedback linearisation. In a first stage only the actuated coordinate of the Furuta pendulum is linearised. Then, the stabilising feedback controller is obtained by applying the Lyapunov direct method. That is, using this method we prove local asymptotic stability and demonstrate that the closed-loop system has a large region of attraction. The stability analysis is carried out by means of LaSalle's invariance principle. To assess the controller effectiveness, the results of the corresponding numerical simulations are presented.
KW - Furuta pendulum system
KW - Lyapunov direct method
KW - nonlinear control
UR - http://www.scopus.com/inward/record.url?scp=78649313369&partnerID=8YFLogxK
U2 - 10.1080/00207179.2010.520029
DO - 10.1080/00207179.2010.520029
M3 - Artículo
SN - 0020-7179
VL - 83
SP - 2285
EP - 2293
JO - International Journal of Control
JF - International Journal of Control
IS - 11
ER -