Abstract:
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 eas...Show MoreMetadata
Abstract:
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.
Published in: 2007 American Control Conference
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
ISBN Information: