Lyapunov method for the controlling of the two wheels inverted pendulum

Author

Frías, O. Octavio Gutiérrez

Author_Institution

Centro de Estudios Cient. y Tecnol., Inst. Politec. Nac., Mexico City, Mexico

fYear

2011

fDate

26-28 Oct. 2011

Firstpage

1

Lastpage

5

Abstract

In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle´s invariance principle. Based on this candidate function, we derive a stabilizing controller in such a way that the closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain attraction.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; feedback; linearisation techniques; nonlinear control systems; pendulums; LaSalle invariance principle; Lyapunov method; asymptotic stability; closed-loop system; domain attraction; equilibrium point; nonlinear controller; partial feedback linearization; stabilization; two-wheel inverted pendulum; Equations; Lyapunov methods; Mathematical model; Mobile robots; Robustness; Wheels; Lyapunov Method; Non-Linear Control; Two Wheels Inverted Pendulum; Underactuated System;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on

Conference_Location

Merida City

Print_ISBN

978-1-4577-1011-7

Type

conf

DOI

10.1109/ICEEE.2011.6106627

Filename

6106627