Por favor utiliza este link para citar o compartir este documento: http://repositoriodigital.academica.mx/jspui/handle/987654321/76556
Título: A Stabilizable Control Laws For a Rotational Pendulum: A Trajectory Planning Approach
Palabras clave: Lyapunov-based control
Trajectory Planning and Under Actuated Systems
Fecha de publicación: 9-Jul-2012
Editorial: Computación y Sistemas
Descripción: We propose two simple controls for the regulation of an under actuated rotational pendulum. Both controllers are based on the Lyapunov approach; the first is a simple passive control which makes the closed-loop solution converges asymptotically to an equilibrium manifold. The second approach is a combination of the Lyapunov and the off-line trajectory planning approaches to move the pendulum from an equilibrium point to another equilibrium point, both point belonging to an equilibrium manifold. The last task is accomplished in an approximated fashion. The results are illustrated by means of digital computer simulations.
Other Identifiers: http://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1405-55462004000200003
Aparece en las Colecciones:Computación y Sistemas

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