Lyapunov's direct method for stabilization of the Furuta pendulum

TÜRKER T., Gorgun H., Cansever G.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, vol.20, no.1, pp.99-110, 2012 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 20 Issue: 1
  • Publication Date: 2012
  • Doi Number: 10.3906/elk-1007-653
  • Journal Name: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, TR DİZİN (ULAKBİM)
  • Page Numbers: pp.99-110
  • Keywords: Lyapunov based control, furuta pendulum, MECHANICAL SYSTEMS
  • Yıldız Technical University Affiliated: Yes

Abstract

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.