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A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems | IEEE Conference Publication | IEEE Xplore

A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems


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 More

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.
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
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Conference Location: New York, NY, USA

References

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