DocumentCode
2394564
Title
A constructive Lyapunov function for controlling the inverted pendulum
Author
Aguilar-Ibanez, Carlos
Author_Institution
Centro de Investig. en Comput. del IPN, Mexico City
fYear
2008
fDate
11-13 June 2008
Firstpage
5145
Lastpage
5149
Abstract
A constructive control strategy is presented for the stabilization of the inverted pendulum system. Under the assumption that the pendulum is initialized above the upper half plane. To carried out, a suitable procedure is presented in order to find a candidate Lyapunov function, for the whole system. Then the control is proposed directly from the obtained Lyapunov, in such a way, that its time derivative be semi-definite negative with respect to a convenient manifold. Finally, the asymptotically stability of the closed-loop system is concluded by LaSalle theorem.
Keywords
Lyapunov methods; asymptotic stability; closed loop systems; nonlinear systems; LaSalle theorem; asymptotic stability; closed-loop system; constructive Lyapunov function; inverted pendulum; Acceleration; Asymptotic stability; Backstepping; Benchmark testing; Control systems; Feedback; Force control; Lyapunov method; Mechanical systems; Nonlinear control systems; Lyapunov approach; Non-linear System; Underactuated mechanical system;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4587311
Filename
4587311
Link To Document