Lyapunov method for the controlling of the two wheels inverted pendulum

In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle's...

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Bibliographic Details
Main Author: Gutierrez Frias, Oscar Octavio
Format: Conference Proceeding
Language:English
Subjects:
Equations
Lyapunov Method
Lyapunov methods
Mathematical model
Mobile robots
Non-Linear Control
Robustness
Two Wheels Inverted Pendulum
Underactuated System
Wheels
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Summary:In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such a way that the closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain attraction.
DOI:10.1109/ICEEE.2011.6106627