Lyapunov's direct method for stabilization of the Furuta pendulum

Türker TÜRKER; Haluk GÖRGÜN; Galip CANSEVER

Makale detayları

Lyapunov's direct method for stabilization of the Furuta pendulum

Yazarlar:

Türker TÜRKER | Haluk GÖRGÜN | Galip CANSEVER

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2012 Vol.20 Issue 1, pp.99-110

Belge Tipi:

Makale

Yayın Tarihi:

12/2011

Belge Dili:

Türkçe

Document ID (Org No.):

2000743636

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

This paper presents a novel stabilization result for the  Furuta pendulum for a large region of attraction including almost all  of the upper half plane.  The solution is obtained via constructing a  Lyapunov function after set of coordinate changes.  Then, a set of  differential equations are solved to achieve asymptotic stability  which is proved in accordance with La Salle's invariance principle.  The effectiveness of the proposed stabilization method is illustrated  with simulation studies.

 

This paper presents a novel stabilization result for the  Furuta pendulum for a large region of attraction including almost all  of the upper half plane.  The solution is obtained via constructing a  Lyapunov function after set of coordinate changes.  Then, a set of  differential equations are solved to achieve asymptotic stability  which is proved in accordance with La Salle's invariance principle.  The effectiveness of the proposed stabilization method is illustrated  with simulation studies.

Makale detayları

Lyapunov's direct method for stabilization of the Furuta pendulum

Yazarlar: Türker TÜRKER | Haluk GÖRGÜN | Galip CANSEVER

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2012 Vol.20 Issue 1, pp.99-110

Belge Tipi: Makale

Yayın Tarihi: 12/2011

Belge Dili: Türkçe

Document ID (Org No.): 2000743636

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Türker TÜRKER | Haluk GÖRGÜN | Galip CANSEVER

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2012 Vol.20 Issue 1, pp.99-110

Belge Tipi:

Makale

Yayın Tarihi:

12/2011

Belge Dili:

Türkçe

Document ID (Org No.):

2000743636

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632