The Lyapunov direct method for the stabilisation of the ball on the actuated beam
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Publication:3654554
DOI10.1080/00207170902874033zbMath1178.93106MaRDI QIDQ3654554
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Publication date: 6 January 2010
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207170902874033
Euler-Lagrange equations; Lyapunov stability; Lyapunov direct method; under-actuated mechanical systems
93B52: Feedback control
93D15: Stabilization of systems by feedback
93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory
93D20: Asymptotic stability in control theory
70Q05: Control of mechanical systems
Related Items
Pseudo‐energy shaping for the stabilization of a class of second‐order systems, Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces, Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach
Cites Work
- Matching, linear systems, and the ball and beam
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Controlled Lagrangian systems with gyroscopic forcing and dissipation
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- On the $\lambda$-Equations for Matching Control Laws
- Control of nonlinear underactuated systems
- Incremental sliding mode control of the ball and beam
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
