A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems

@article{White2007ADL,
  title={A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems},
  author={W. N. White and Mikil D. Foss and Xin Guo},
  journal={2007 American Control Conference},
  year={2007},
  pages={4817-4822}
}
  • W.N. White, Mikil D. Foss, Xin Guo
  • Published 2007
  • Computer Science
  • 2007 American Control Conference
  • 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. 

    Figures and Topics from this paper.

    Explore key concepts

    Links to highly relevant papers for key concepts in this paper:

    Citations

    Publications citing this paper.
    SHOWING 1-10 OF 16 CITATIONS

    Enlarging the region of attraction for underactuated systems using impulsive inputs

    VIEW 1 EXCERPT
    CITES BACKGROUND

    On the stabilization of the ball and beam system using a direct Lyapunov method

    • C. Aguilar-Ibaez
    • 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)
    • 2009
    VIEW 2 EXCERPTS
    CITES METHODS

    Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach

    VIEW 1 EXCERPT
    CITES BACKGROUND

    References

    Publications referenced by this paper.
    SHOWING 1-10 OF 10 REFERENCES

    Feedback stabilization of underactuated nonlinear pendulum cart system using matching conditions

    VIEW 1 EXCERPT

    Mahindrakar : “ Interconnection and damping assignment passivity – based control of mechanical systems with underactuation degree one

    • J. A. Acosta, R. Ortega, D. A.
    • IEEE Trans . Automat . Contr .

    Nonlinear Systems, Upper Saddle River

    • Khalil, K Hassan
    • NJ: Prentice-Hall,
    • 2002
    VIEW 1 EXCERPT

    Partial Differential Equations, An Introduction, Boston, Massachusetts: Allyn and Bacon, 1972

    • Young, C Eutiquio
    • FrA18.3
    • 1972