Lyapunov´s stability control of constrained inverted pendulums

Author

Wu, Q.

Author_Institution

Dept. of Mech. & Ind. Eng., Manitoba Univ., Winnipeg, Man., Canada

Volume

1

fYear

1999

fDate

1999

Firstpage

293

Abstract

Control of a constrained planar inverted pendulum tracking desired trajectories is studied based on Lyapunov´s stability theory. The hinge at the base is replaced with horizontal and vertical forces. Two control strategies are designed: one is piecewise continuous which guarantees the Lyapunov´s stability; and the other one is continuous which is practically more desirable and can still keep tracking within prescribed accuracy. The trade-off in the stability using the continuous controller is analyzed. It is also found that the motion of the base point is significantly reduced as compared with previous work. The effectiveness of the controller is tested by computer simulation

Keywords

Lyapunov methods; continuous time systems; dynamics; motion control; pendulums; stability; tracking; Lyapunov method; dynamics; inverted pendulums; motion control; piecewise continuous control; stability; trajectory tracking; Computer simulation; Constraint theory; Control systems; Fasteners; Industrial engineering; Ligaments; Lyapunov method; Stability analysis; Testing; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.782787

Filename

782787