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Lyapunov optimal feedback control of a nonlinear inverted pendulumLiapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.
Document ID
19900031453
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Grantham, W. J.
(Washington State University Pullman, United States)
Anderson, M. J.
(Washington State Univ. Pullman, WA, United States)
Date Acquired
August 14, 2013
Publication Date
December 1, 1989
Publication Information
Publication: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control
Volume: 111
ISSN: 0022-0434
Subject Category
Cybernetics
Accession Number
90A18508
Funding Number(s)
CONTRACT_GRANT: NCA2-216
CONTRACT_GRANT: NCA2-191
Distribution Limits
Public
Copyright
Other

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