Title :
Lyapunov Approach for the stabilization of the Inverted Spherical Pendulum
Author :
Aguilar-Ibañez, Carlos ; Gutierrez, O.F. ; Sossa-Azuela, Humberto
Author_Institution :
Centro de Investigation en Comput. del IPN, Mexico
Abstract :
A nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle´s invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point with the position of the movable base at the origin. The obtained closed-loop system has a very large domain of attraction, that can be as large as desired, for any initial position of the pendulum which lies above the horizontal plane
Keywords :
Lyapunov methods; closed loop systems; invariance; nonlinear control systems; pendulums; stability; Lyapunov approach; closed-loop system; invariance principle; inverted spherical pendulum; nonlinear controller; stabilization; Asymptotic stability; Control systems; Lagrangian functions; Lyapunov method; Nonlinear control systems; Nonlinear systems; Propulsion; Rockets; System testing; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376941
