Title :
Feedback stabilization of underactuated nonlinear pendulum cart system using matching conditions
Author :
Kelkar, Atul G. ; Fang, Bo ; White, Warren ; Guo, Xin
Author_Institution :
Dept. of Mech. Eng., Iowa State Univ., Ames, IA, USA
Abstract :
The feedback stabilization problem of an underactuated nonlinear system is considered in this paper. The example system considered here is an inverted pendulum-cart system. The PDEs describing the matching conditions are obtained and solved by the characteristic equation method. A class of control laws which can stabilize the system are established from the modified Lagrangian. The simulation results show the effectiveness of the method.
Keywords :
feedback; nonlinear control systems; pendulums; stability; PDE; characteristic equation method; feedback stabilization; inverted pendulum; inverted pendulum-cart system; matching conditions; modified Lagrangian; partial DE; partial differential equations; underactuated nonlinear pendulum cart system; Control design; Control systems; Lagrangian functions; Lyapunov method; Mechanical engineering; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Potential energy; State feedback;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025399
