Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians

Anthony M. Bloch, Naomi Ehrich Leonard, Jerrold E. Marsden

Research output: Contribution to journalConference article

53 Scopus citations

Abstract

This paper obtains feedback stabilization of an inverted pendulum on a rotor arm by the 'method of controlled Lagrangians'. This approach involves modifying the Lagrangian for the uncontrolled system so that the Euler-Lagrange equations derived from the modified or 'controlled' Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy 'matching' conditions. The pendulum on a rotor arm requires an interesting generalization of our earlier approach which was used for systems such as a pendulum on a cart.

Original languageEnglish (US)
Pages (from-to)500-505
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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