Feedback stabilization of underactuated nonlinear pendulum cart system using matching conditions | IEEE Conference Publication | IEEE Xplore

Feedback stabilization of underactuated nonlinear pendulum cart system using matching conditions


Abstract:

The feedback stabilization problem of an underactuated nonlinear system is considered in this paper. The example system considered here is an inverted pendulum-cart syste...Show More

Abstract:

The feedback stabilization problem of an underactuated nonlinear system is considered in this paper. The example system considered here is an inverted pendulum-cart system. The PDEs describing the matching conditions are obtained and solved by the characteristic equation method. A class of control laws which can stabilize the system are established from the modified Lagrangian. The simulation results show the effectiveness of the method.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619
Conference Location: Anchorage, AK, USA

References

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