lyapunov-based pd linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case
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ID: 259681
2010
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Abstract
This paper concerns active vibration damping of a frictionless physical inverted pendulum with
a radially moving mass. The motion of the inverted pendulum is restricted to an admissible set.
The proposed Proportional Derivative linear controller damps the inverted pendulum (which is
anchored by a torsion spring to keep it in a stable upright position), exerting a force on the
radially moving mass. The controller design procedure, which follows a traditional Lyapunov-based
approach, tailors the energy behavior of the system described in Euler-Lagrange terms.
| Reference Key |
aguilar-ibez2010mathematicallyapunov-based
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|---|---|
| Authors | ;Carlos Fernando Aguilar-Ibáñez;Oscar Octavio Gutiérrez-Frías;Juan Carlos Martínez-García;Rubén Garrido-Moctezuma;Bernardo Gómez-González |
| Journal | journal of power sources |
| Year | 2010 |
| DOI |
10.1155/2010/162875
|
| URL | |
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