DocumentCode
2126713
Title
Stabilization of the cart-pendulum system via quasi-homogeneous switched control
Author
Riachy, Samer ; Floquet, Thierry ; Orlov, Yuri ; Richard, Jean-Pierre
Author_Institution
LAGIS, Ecole Centrale de Lille, Villeneuve d´´Ascq
fYear
2006
fDate
5-7 June 2006
Firstpage
139
Lastpage
142
Abstract
In this paper, a quasi-homogeneous switched controller for the stabilization of the cart-pendulum system is developed. Based on nonlinear system equations, it provides a large domain of attraction as compared to other controllers given in the literature. It is shown to be robust with respect to matched perturbations
Keywords
nonlinear control systems; nonlinear equations; pendulums; perturbation techniques; stability; time-varying systems; cart-pendulum system; matched perturbations; nonlinear system equations; quasi-homogeneous switched control; stabilization; Control systems; Friction; Linear feedback control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Nonlinear systems; State feedback; Switched systems; Switches;
fLanguage
English
Publisher
ieee
Conference_Titel
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location
Alghero, Sardinia
Print_ISBN
1-4244-0208-5
Type
conf
DOI
10.1109/VSS.2006.1644507
Filename
1644507
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