The Lyapunov direct method for the stabilisation of the ball on the actuated beam

DOI10.1080/00207170902874033zbMath1178.93106OpenAlexW2143154180MaRDI QIDQ3654554

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Publication date: 6 January 2010

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170902874033

zbMATH Keywords

Euler-Lagrange equationsLyapunov stabilityLyapunov direct methodunder-actuated mechanical systems

Mathematics Subject Classification ID

Feedback control (93B52) Stabilization of systems by feedback (93D15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)

Related Items (3)

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces ⋮ Pseudo‐energy shaping for the stabilization of a class of second‐order systems ⋮ Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach

Cites Work

• Matching, linear systems, and the ball and beam
• Physical damping in IDA-PBC controlled underactuated mechanical systems
• Controlled Lagrangian systems with gyroscopic forcing and dissipation
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• On the $\lambda$-Equations for Matching Control Laws
• Control of nonlinear underactuated systems
• Incremental sliding mode control of the ball and beam
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

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