Lyapunov stability control of inverted pendulums with general base point motion

DOI10.1016/S0020-7462(97)00052-8MaRDI QIDQ872462zbMATH OpenOpenAlexFDO

Authors A. B. Thornton-Trump, Qiong Wu, Nariman Sepehri

Publication date 28 March 2007

Published in International Journal of Non-Linear Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0020-7462(97)00052-8

Mathematics Subject Classification ID

Stability for nonlinear problems in mechanics (70K20) Control of mechanical systems (70Q05) Feedback control (93B52) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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(14)

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• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
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• Stabilization of the Furuta pendulum based on a Lyapunov function
• Simultaneous design of optimal gait pattern and controller for a bipedal robot
• Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case

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