A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach
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| Format: | Artículo científico |
| Langue: | en |
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Instituto Politécnico Nacional
2004
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| _version_ | 1876458930022907904 |
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| author | Carlos F. Aguilar Ibañez |
| author_facet | Carlos F. Aguilar Ibañez |
| contents | A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach Carlos F. Aguilar Ibañez Oscar Chavoya A. Computación Lyapunov based control Trajectory Planning and Under Actuated Systems We propose two simple controls for the regulation of an under actuated rotational pendulum. Both controllers are based on the Lyapunov approach; the first is a simple passive control which makes the closed-loop solution converges asymptotically to an equilibrium manifold. The second approach is a combination of the Lyapunov and the off-line trajectory planning approaches to move the pendulum from an equilibrium point to another equilibrium point, both point belonging to an equilibrium manifold. The last task is accomplished in an approximated fashion. The results are illustrated by means of digital computer simulations. 2004 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61570403 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.7 |
| format | Artículo científico |
| id | redalyc_61570403 |
| institution | Redalyc |
| language | en |
| publishDate | 2004 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach Carlos F. Aguilar Ibañez Computación Lyapunov based control Trajectory Planning and Under Actuated Systems A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach Carlos F. Aguilar Ibañez Oscar Chavoya A. Computación Lyapunov based control Trajectory Planning and Under Actuated Systems We propose two simple controls for the regulation of an under actuated rotational pendulum. Both controllers are based on the Lyapunov approach; the first is a simple passive control which makes the closed-loop solution converges asymptotically to an equilibrium manifold. The second approach is a combination of the Lyapunov and the off-line trajectory planning approaches to move the pendulum from an equilibrium point to another equilibrium point, both point belonging to an equilibrium manifold. The last task is accomplished in an approximated fashion. The results are illustrated by means of digital computer simulations. 2004 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61570403 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.7 |
| title | A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach |
| topic | Computación Lyapunov based control Trajectory Planning and Under Actuated Systems |
| url | https://www.redalyc.org/articulo.oa?id=61570403 |