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A control energy approach for the stabilization of the rigid beam balanced by the cart |
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| Authors: | Carlos F. Aguilar‐Ibañez F. Guzmán‐Aguilar Rogelio Lozano Juan C. Chimal E |
| Affiliation: | 1. CIC‐IPN, Av. Juan de Dios Bátiz s/n Esq. Manuel Othón de M. Unidad Profesional Adolfo López Mateos, Col. San Pedro Zacatenco, A.P. 75476, México DF 07738, Mexico;2. ESCOM‐IPN, Av. Juan de Dios Bátiz s/n Esq. Manuel Othón de M. Unidad Profesional Adolfo López Mateos, Col. San Pedro Zacatenco, A.P. 75476, México DF 07738, Mexico;3. Centre de Recherches de Royallieu, Univ. de Tech. de Compiegne BP 20529, 60205 Compiegne Cedex, France |
| Abstract: | In this paper we present a control strategy for the stabilization of a rigid beam balanced by a cart. The control problem consists of horizontally balancing the beam by moving the cart backwards and forwards along the beam. The cart movement is restricted to always remain over the beam. The control strategy is based on the interconnection and damping assignment passivity based controller. The stability analysis is carried out using LaSalles's theorem. Copyright © 2008 John Wiley & Sons, Ltd. |
| Keywords: | under‐actuated system passivity based controller Euler– Lagrange system |