Abstract
In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.
| Original language | English |
|---|---|
| Pages (from-to) | 472-475 |
| Number of pages | 4 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 6 |
| Publication status | Published - 2002 |
| Event | 2002 IEEE International Conference on Systems, Man and Cybernetics - Yasmine Hammamet, Tunisia Duration: Oct 6 2002 → Oct 9 2002 |
Keywords
- Nontriangular form
- Stabilization
- Underactuated
- Whirling Pendulum
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture