Lyapunov stability control of inverted pendulums with general base point motion

DOI10.1016/S0020-7462(97)00052-8MaRDI QIDQ872462zbMATHOpenAlexFDO

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

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

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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
• Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case
• On design of continuous Lyapunov's feedback control
• Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum's base navigation commands
• Stability and chaotic behavior of a PID controlled inverted pendulum subjected to harmonic base excitations by using the normal form theory
• Stability of limit cycles in autonomous nonlinear systems
• On control of a base-excited inverted pendulum using neural networks

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