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A control energy approach for the stabilization of the rigid beam balanced by the cart
Author(s) -
AguilarIbañez Carlos F.,
GuzmánAguilar F.,
Lozano Rogelio,
Chimal E Juan C.
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1371
Subject(s) - cart , passivity , control theory (sociology) , beam (structure) , interconnection , controller (irrigation) , control (management) , stability (learning theory) , computer science , engineering , structural engineering , artificial intelligence , telecommunications , mechanical engineering , agronomy , electrical engineering , machine learning , biology
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.