Title :
Tracking trajectories of feedforward systems: application to the cart-pendulum system
Author :
Mazenc, F. ; Bowong, S.
Author_Institution :
INRIA, Metz, France
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;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980146
