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
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;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4587311
