A control energy approach for the stabilization of the rigid beam balanced by the cart

DOI10.1002/RNC.1371MaRDI QIDQ3497682zbMATH OpenOpenAlexFDO

Authors F. Guzmán-Aguilar, Rogelio Lozano, Juan C. Chimal E., Carlos Aguilar-Ibañez

Publication date 27 July 2009

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.1371

zbMATH Keywords

Euler-Lagrange systemunder-actuated systempassivity based controller

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Recommendations

• Stabilizing a flexible beam on a cart: a distributed port-Hamiltonian approach
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• The Lyapunov direct method for the stabilisation of the ball on the actuated beam
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Cites work

• Controlled Lagrangian systems with gyroscopic forcing and dissipation
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Interconnection and damping assignment passivity-based control: a survey
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Cited in

(6)

• Asymptotic stabilisation of the ball and beam system: design of energy-based control law and experimental results
• Stabilizing a flexible beam on a cart: a distributed port-Hamiltonian approach
• State-constrained stabilization of beam-balance systems
• Passivity-based control of a magnetically levitated flexible beam
• PD control for vibration attenuation in a physical pendulum with moving mass
• The Lyapunov direct method for the stabilisation of the ball on the actuated beam

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