Lyapunov constraints and global asymptotic stabilization

SERGIO GRILLO; JERROLD MARSDEN; SUJIT NAIR

Journal of Geometric Mechanics

AIMS

Año: 2011 p. 145 - 196

1941-4889

In this paper, we develop a method for stabilizing underactuated mechanical systems by imposing kinematic constraints (more precisely, Lyapunov constraints). If these constraints can be implemented by actuators, i.e., if there exists a related constraint force exerted by the actuators, then the existence of a Lyapunov function for the system under consideration is guaranteed. We establish necessary and sufficient conditions for the existence and uniqueness of constraint forces. These conditions give rise to a system of PDEs whose solution is the required Lyapunov function. To illustrate our results, we solve these PDEs for certain underactuated mechanical systems of interest such as the inertia wheel-pendulum, the inverted pendulum on a cart system and the ball and beam system.