DocumentCode
3172966
Title
A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems
Author
White, Warren N. ; Foss, Mikil ; Guo, Xin
Author_Institution
Kansas State Univ., Manhattan
fYear
2007
fDate
9-13 July 2007
Firstpage
4817
Lastpage
4822
Abstract
Control of underactuated systems is treated from a Lyapunov direct method approach. The method results in a set of three matching conditions, the solution of which is easily accomplished. The method developed is capable of treating more complicated systems than that reported in an earlier publication. The suitability of the Lyapunov candidate function is demonstrated through mathematical proofs. An application of the method to the ball and beam is presented.
Keywords
Lyapunov methods; large-scale systems; stability; ball; beam; complicated systems; direct Lyapunov approach; mathematical proofs; underactuated mechanical system stabilization; Control systems; Damping; Lagrangian functions; Linear feedback control systems; Mechanical systems; Nonlinear control systems; Nonlinear equations; Partial differential equations; Vehicle dynamics; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2007. ACC '07
Conference_Location
New York, NY
ISSN
0743-1619
Print_ISBN
1-4244-0988-8
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2007.4282944
Filename
4282944
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