A digital controller for the pendubot system using approximate output regulation approach

Author

Luo, Xu ; Wang, Hongtao

Author_Institution

Guang Dong AIB Polytech. Coll., Guangzhou, China

Volume

1

fYear

2010

fDate

21-24 May 2010

Abstract

It is difficult to solve the discrete regulator equations arising from the discrete-time nonlinear output regulation problem. The application of output regulation problem to mechanical systems is of interest especially for an under-actuated system - pendubot system. In this paper, a digital controller for the pendubot system is designed by using approximate output regulation approach. The simulation shows that the control law performs much better than the conventional linear control law.

Keywords

digital control; discrete time systems; nonlinear control systems; pendulums; robots; approximate output regulation approach; digital controller; discrete regulator equations; discrete-time nonlinear output regulation problem; mechanical systems; pendubot system; under-actuated system; Automatic control; Automation; Computational efficiency; Control systems; Digital control; Educational institutions; Feedforward neural networks; Neural networks; Nonlinear equations; Regulators; approximate output regulation approach; output regulation problem; pendubot system;

fLanguage

English

Publisher

ieee

Conference_Titel

Future Computer and Communication (ICFCC), 2010 2nd International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-5821-9

Type

conf

DOI

10.1109/ICFCC.2010.5497776

Filename

5497776