Estabilización del Péndulo Invertido Sobre Dos Ruedas mediante el método de Lyapunov

Autores/as

  • O. Octavio Gutiérrez Frías UPIITA-Instituto Politécnico Nacional

DOI:

https://doi.org/10.1016/j.riai.2012.11.003

Palabras clave:

Sistema Subactuado, Péndulo Invertido Sobre Dos Ruedas, Método de Lyapunov, Control No Lineal

Resumen

En este trabajo, se presenta un controlador no lineal para estabilizar el sistema Péndulo Invertido Sobre Dos Ruedas. Como primera etapa la estrategia de control, se basa en una linealización parcial por realimentación, para posteriormente proponer una función candidata de Lyapunov en combinación con el principio de invariancia de LaSalle con el fin de obtener el controlador esta- bilizador. El sistema en lazo cerrado obtenido es asintóticamente estable localmente alrededor del punto de equilibrio inestable, con un dominio de atracción calculable.

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Cómo citar

Gutiérrez Frías, O. O. (2013) «Estabilización del Péndulo Invertido Sobre Dos Ruedas mediante el método de Lyapunov», Revista Iberoamericana de Automática e Informática industrial, 10(1), pp. 30–36. doi: 10.1016/j.riai.2012.11.003.

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