Non-Lyapunov control of a balancing robot

Autores
García, Andrés Gabriel; Arnaude, Ezequiel
Año de publicación
2019
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
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.
Fil: García, Andrés Gabriel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.
Fil: Arnaude, Ezequiel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.
Fuente
Matemática Aplicada, Computacional e Industrial 7, 553-556 (2019).
Materia
Balancing robot
Nonlinear system
Asymptotic stability
Nivel de accesibilidad
acceso abierto
Condiciones de uso
2021-05-07T21:07:31Z
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/5064
Acceder
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network_acronym_str RIAUTN
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network_name_str Repositorio Institucional Abierto (UTN)
spelling Non-Lyapunov control of a balancing robotGarcía, Andrés GabrielArnaude, EzequielBalancing robotNonlinear systemAsymptotic stabilityApplying 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.Fil: García, Andrés Gabriel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.Fil: Arnaude, Ezequiel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.Asociación Argentina de Matemática Aplicada Computacional e Industrial2021-05-07T21:07:31Z2021-05-07T21:07:31Z2019-05info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfapplication/pdfGarcía, A. G. & Arnaude, E. (2019). Non-Lyapunov control of a balancing robot. EN: Matemática Aplicada, Computacional e Industrial, 7, 553-556.2314-3282http://hdl.handle.net/20.500.12272/5064Matemática Aplicada, Computacional e Industrial 7, 553-556 (2019).reponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica NacionalengengA. BACCIOTTI AND L. ROSIER, Liapunov Functions and Stability in Control Theory, Springer Verlag, 2005.GUANRONG CHEN, Stability of Nonlinear Systems, In Encyclopedia of RF and Microwave Engineering, Wiley, New York, pp. 4881-4896, 2004.ANDRÉS GARCÍA, Necessary and sufficient condition for asymptotic stability of nonlinear ODEs, Nonlinear Science Letters A, 9-2 (2018), pp.501-503.M. A. ROSYIDI AND E. H. BINUGROHO AND S. E. RADIN CHAREL AND R. S. DEWANTO AND D. PRAMADIHANTO, Speed and balancing control for unicycle robot in Proceedings of 2016 International Electronics Symposium (IES), Univ. of California Press, Berkeley, (2016), 19-24.info:eu-repo/semantics/openAccess2021-05-07T21:07:31Zhttp://creativecommons.org/licenses/by-nc-nd/4.0/Attribution-NonCommercial-NoDerivatives 4.0 InternacionalNo comercial con fines académicos y educativos.2026-10-01T11:57:09Zoai:ria.utn.edu.ar:20.500.12272/5064instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-10-01 11:57:09.501Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv Non-Lyapunov control of a balancing robot
title Non-Lyapunov control of a balancing robot
spellingShingle Non-Lyapunov control of a balancing robot
García, Andrés Gabriel
Balancing robot
Nonlinear system
Asymptotic stability
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
dc.creator.none.fl_str_mv García, Andrés Gabriel
Arnaude, Ezequiel
author García, Andrés Gabriel
author_facet García, Andrés Gabriel
Arnaude, Ezequiel
author_role author
author2 Arnaude, Ezequiel
author2_role author
dc.subject.none.fl_str_mv Balancing robot
Nonlinear system
Asymptotic stability
topic Balancing robot
Nonlinear system
Asymptotic stability
dc.description.none.fl_txt_mv 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.
Fil: García, Andrés Gabriel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.
Fil: Arnaude, Ezequiel. Universidad Tecnológica Nacional. Facultad Regional Bahía Blanca; Argentina.
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.
publishDate 2019
dc.date.none.fl_str_mv 2019-05
2021-05-07T21:07:31Z
2021-05-07T21:07:31Z
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv García, A. G. & Arnaude, E. (2019). Non-Lyapunov control of a balancing robot. EN: Matemática Aplicada, Computacional e Industrial, 7, 553-556.
2314-3282
http://hdl.handle.net/20.500.12272/5064
identifier_str_mv García, A. G. & Arnaude, E. (2019). Non-Lyapunov control of a balancing robot. EN: Matemática Aplicada, Computacional e Industrial, 7, 553-556.
2314-3282
url http://hdl.handle.net/20.500.12272/5064
dc.language.none.fl_str_mv eng
eng
language eng
dc.relation.none.fl_str_mv A. BACCIOTTI AND L. ROSIER, Liapunov Functions and Stability in Control Theory, Springer Verlag, 2005.
GUANRONG CHEN, Stability of Nonlinear Systems, In Encyclopedia of RF and Microwave Engineering, Wiley, New York, pp. 4881-4896, 2004.
ANDRÉS GARCÍA, Necessary and sufficient condition for asymptotic stability of nonlinear ODEs, Nonlinear Science Letters A, 9-2 (2018), pp.501-503.
M. A. ROSYIDI AND E. H. BINUGROHO AND S. E. RADIN CHAREL AND R. S. DEWANTO AND D. PRAMADIHANTO, Speed and balancing control for unicycle robot in Proceedings of 2016 International Electronics Symposium (IES), Univ. of California Press, Berkeley, (2016), 19-24.
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
2021-05-07T21:07:31Z
http://creativecommons.org/licenses/by-nc-nd/4.0/
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
No comercial con fines académicos y educativos.
eu_rights_str_mv openAccess
rights_invalid_str_mv 2021-05-07T21:07:31Z
http://creativecommons.org/licenses/by-nc-nd/4.0/
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
No comercial con fines académicos y educativos.
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Asociación Argentina de Matemática Aplicada Computacional e Industrial
publisher.none.fl_str_mv Asociación Argentina de Matemática Aplicada Computacional e Industrial
dc.source.none.fl_str_mv Matemática Aplicada, Computacional e Industrial 7, 553-556 (2019).
reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
_version_ 1877862355984973824
score 13.365483

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