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Título : | Lyapunov Method for the Controlling of the Two Wheels Inverted pendulum |
Autor : | GutÍerrez FrÍas, Octavio |
Palabras clave : | Under Actuated System Two Wheels Inverted Pendulum Lyapunov Method Non-Linear Control |
Fecha de publicación : | 21-mar-2012 |
Resumen : | In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by suitable partial feedback lin- earization that allows to linearize only the actuated coordinate system, we proceed to nd a function Lya- punov in conjuntion with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such away that the closed-loop system is locally asymptotically stable around its unstable equi- librium point, with a computable domain attraction. |
Descripción : | Documento de investigación |
URI : | http://www.repositoriodigital.ipn.mx/handle/123456789/3505 |
Aparece en las colecciones: | Ponencias |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
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INV-12-2011.pdf | 275.9 kB | Adobe PDF | Visualizar/Abrir |
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