Lyapunov-based controller for the inverted pendulum cart system. (English) Zbl 1094.70016
Summary: A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, at a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.
MSC:
| 70Q05 | Control of mechanical systems |
| 93D05 | Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory |
| 93B52 | Feedback control |
| 93D20 | Asymptotic stability in control theory |
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