The direct Lyapunov method for the stabilisation of the Furuta pendulum

DOI10.1080/00207179.2010.520029zbMath1210.93059OpenAlexW2044649450MaRDI QIDQ5391445

Oscar O. Gutiérres-Frias, Miguel S. Suarez-Castanon, Carlos Fernando Aguilar-Ibáñez

Publication date: 6 April 2011

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

Full work available at URL: https://doi.org/10.1080/00207179.2010.520029

zbMATH Keywords

nonlinear controllerLyapunov direct methodFuruta pendulumstabilising feedback controller

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Linearizations (93B18) Control of mechanical systems (70Q05)

Related Items (4)

Proportional derivative control with inverse dead-zone for pendulum systems ⋮ Stabilizing a rotary inverted pendulum based on logarithmic Lyapunov function ⋮ Adaptive control of rotary inverted pendulum system with time-varying uncertainties ⋮ Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach

Cites Work

• Unnamed Item
• Swinging up a pendulum by energy control
• Detection of attraction domains of non-linear systems using bifurcation analysis and Lyapunov functions
• Stabilization of the Furuta pendulum around its homoclinic orbit
• A new swing-up law for the Furuta pendulum
• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

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