Non-Lyapunov control of a balancing robot

Applying the necessary and sufficient condition derived in [3] to a balancing unicycle robot, a closed-loop control strategy is presented to stabilize asymptotically the vehicle. Unlike the classical linearization or even local and specialized strategies, the necessary and sufficient condition app...

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Detalles Bibliográficos
Autores principales: García, Andrés Gabriel, Arnaude, Ezequiel
Formato: Documento de conferencia publisherVersion
Lenguaje:Inglés
Inglés
Publicado: Asociación Argentina de Matemática Aplicada Computacional e Industrial 2021
Materias:
Balancing robot
Nonlinear system
Asymptotic stability
Acceso en línea:http://hdl.handle.net/20.500.12272/5064
Aporte de:
RIA - Repositorio Institucional Abierto (UTN) de Universidad Tecnológica Nacional
id I68-R174-20.500.12272-5064
record_format dspace
institution Universidad Tecnológica Nacional
institution_str I-68
repository_str R-174
collection RIA - Repositorio Institucional Abierto (UTN)
language Inglés
Inglés
topic Balancing robot
Nonlinear system
Asymptotic stability
spellingShingle Balancing robot
Nonlinear system
Asymptotic stability
García, Andrés Gabriel
Arnaude, Ezequiel
Non-Lyapunov control of a balancing robot
topic_facet Balancing robot
Nonlinear system
Asymptotic stability
description Applying the necessary and sufficient condition derived in [3] to a balancing unicycle robot, a closed-loop control strategy is presented to stabilize asymptotically the vehicle. Unlike the classical linearization or even local and specialized strategies, the necessary and sufficient condition applied, render the design straightforward along with simple algebraic conditions to derive the controller.
format Documento de conferencia
publisherVersion
author García, Andrés Gabriel
Arnaude, Ezequiel
author_facet García, Andrés Gabriel
Arnaude, Ezequiel
author_sort García, Andrés Gabriel
title Non-Lyapunov control of a balancing robot
title_short Non-Lyapunov control of a balancing robot
title_full Non-Lyapunov control of a balancing robot
title_fullStr Non-Lyapunov control of a balancing robot
title_full_unstemmed Non-Lyapunov control of a balancing robot
title_sort non-lyapunov control of a balancing robot
publisher Asociación Argentina de Matemática Aplicada Computacional e Industrial
publishDate 2021
url http://hdl.handle.net/20.500.12272/5064
work_keys_str_mv AT garciaandresgabriel nonlyapunovcontrolofabalancingrobot
AT arnaudeezequiel nonlyapunovcontrolofabalancingrobot
bdutipo_str Repositorios
_version_ 1764820552479932416

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