DocumentCode
2618676
Title
Global stabilization of the cart-pendulum system using saturation functions
Author
Fantoni, Isabelle ; Lozano, Rogelio
Author_Institution
UTC, Compiegne, France
Volume
5
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
4393
Abstract
This paper provides a new control methodology for the stabilization of the well-known inverted pendulum. Starting from a pendant position or any initial position, the pendulum is stabilized around its upper equilibrium position without switching to a stabilizing local controller, while the cart displacement is brought to zero. The control strategy is based on the use of saturation functions.
Keywords
nonlinear control systems; nonlinear equations; pendulums; position control; stability; cart displacement; cart pendulum system; control methodology; controller; inverted pendulum; mathematics computing; nonlinear equations; nonlinear systems; saturation functions; stabilization; upper equilibrium position; Acceleration; Control systems; Controllability; Displacement control; Feedback; Laboratories; Lyapunov method; Nonlinear control systems; Switches; TV;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272193
Filename
1272193
Link To Document