A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems

A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems

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 publicatio...

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Bibliographische Detailangaben
Hauptverfasser: White, W.N., Foss, M., Xin Guo
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Damping
Lagrangian functions
Linear feedback control systems
Mechanical systems
Nonlinear control systems
Nonlinear equations
Partial differential equations
Vehicle dynamics
Velocity control
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Beschreibung
Zusammenfassung: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.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2007.4282944