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Extension of Pozharitsky theorem for partial stabilization of a system with several first integrals

Kolesnichenko, Olga; Shiriaev, Anton and Robertsson, Anders LU (2002) In Proceedings of the 41st IEEE Conference on Decision and Control, 2002 3. p.3512-3517
Abstract
The paper is devoted to an extension of one particular fact withintheory of partial stability, the so-called Pozharitsky Theorem,to the case of partial stabilization of nonlinear controlled system.It is shown that under appropriate assumptions partialstabilization of the system based on usage some Lyapunov functionconstructed from first integrals of the unforced system, impliesthat the Lyapunov function of a simplified form also leads toa controller that partially stabilizes the system. The theoreticalresults are illustrated by the problem of partial stabilization ofthe downward equilibrium of the Inertia Wheel Pendulum.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
nonlinear controlled system, partial stabilization, Lyapunov function, downward equilibrium, Pozharitsky theorem, inertia wheel pendulum
in
Proceedings of the 41st IEEE Conference on Decision and Control, 2002
volume
3
pages
3512 - 3517
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:0036989762
ISSN
0191-2216
ISBN
0-7803-7516-5
language
English
LU publication?
yes
id
19d8b5a9-4d37-46fd-adbc-04ea1467a424 (old id 537751)
alternative location
http://ieeexplore.ieee.org/iel5/8437/26568/01184419.pdf
date added to LUP
2007-09-21 11:08:32
date last changed
2017-01-01 06:44:07
@inproceedings{19d8b5a9-4d37-46fd-adbc-04ea1467a424,
  abstract     = {The paper is devoted to an extension of one particular fact withintheory of partial stability, the so-called Pozharitsky Theorem,to the case of partial stabilization of nonlinear controlled system.It is shown that under appropriate assumptions partialstabilization of the system based on usage some Lyapunov functionconstructed from first integrals of the unforced system, impliesthat the Lyapunov function of a simplified form also leads toa controller that partially stabilizes the system. The theoreticalresults are illustrated by the problem of partial stabilization ofthe downward equilibrium of the Inertia Wheel Pendulum.},
  author       = {Kolesnichenko, Olga and Shiriaev, Anton and Robertsson, Anders},
  booktitle    = {Proceedings of the 41st IEEE Conference on Decision and Control, 2002},
  isbn         = {0-7803-7516-5},
  issn         = {0191-2216},
  keyword      = {nonlinear controlled system,partial stabilization,Lyapunov function,downward equilibrium,Pozharitsky theorem,inertia wheel pendulum},
  language     = {eng},
  pages        = {3512--3517},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Extension of Pozharitsky theorem for partial stabilization of a system with several first integrals},
  volume       = {3},
  year         = {2002},
}