DocumentCode
2179015
Title
Tracking trajectories of feedforward systems: application to the cart-pendulum system
Author
Mazenc, F. ; Bowong, S.
Author_Institution
INRIA, Metz, France
Volume
1
fYear
2001
fDate
2001
Firstpage
479
Abstract
The objective of the work is twofold. A first part is devoted to the problem of tracking trajectories of feedforward systems. A family of the time-varying state feedbacks which globally uniformly asymptotically and locally exponentially stabilize trajectories which are not necessarily periodic functions of the time is exhibited. Strict Lyapunov functions are constructed. In a second part, the problem of tracking a trajectory of the practical system called cart-pendulum system is solved
Keywords
Lyapunov methods; asymptotic stability; feedforward; nonlinear control systems; pendulums; state feedback; time-varying systems; tracking; Lyapunov functions; cart-pendulum system; cart-pole system; feedforward systems; global uniformly asymptotic stability; inverted pendulum; locally exponential stability; nonlinear feedforward systems; time-varying state feedbacks; trajectory tracking; Backstepping; Control theory; Ear; Equations; Feedforward systems; Lyapunov method; Nonlinear systems; State feedback; Symmetric matrices; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980146
Filename
980146
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