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A control strategy for changing the position of an immersed micro particle in a viscous medium and trapped by optical tweezers is presented. The feedback controller was designed under the consideration that the mass of the micro particle is sufficiently enough so it can be discarded from the equations of motion. In practice it is true, since the inertial force produced by the motion of a micron-scaled...
A constructive control strategy is presented for the stabilization of the inverted pendulum system. Under the assumption that the pendulum is initialized above the upper half plane. To carried out, a suitable procedure is presented in order to find a candidate Lyapunov function, for the whole system. Then the control is proposed directly from the obtained Lyapunov, in such a way, that its time derivative...
We present an energy matching control strategy model for the angular velocity stabilization of a rigid body system that assumes that two independent controllers are available. The control strategy consists of solving a feasible matching condition in order to derive a feedback controller which forces the closed-loop system to be globally asymptotically stable.
A nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle's invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point with the position of the movable base at the origin. The obtained closed-loop system has a very...
A Lyapunov based control approach is proposed for the stabilization of the under actuated Furuta pendulum. First, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, it proceeds to find a candidate Lyapunov function, and them, a stabilizing controller is derived from the obtained candidate function. The proposed closed-loop system is locally...
An output feedback passivity based controller is suitably combined with an off-line trajectory planning for the equilibrium to equilibrium regulation of the nonlinear induction motor. As obtained from computer simulations, the proposed dynamic feedback controller naturally sustains the presence of un-modelled constant load torque perturbations and it is robust with respect to discontinuous variations...
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