Title :
Energy based control of the Pendubot
Author :
Fantoni, Isabelle ; Lozano, Rogelio ; Spong, Mark W.
Author_Institution :
Dept. Heudiasyc, Univ. of Technol. of Compiegne, France
fDate :
4/1/2000 12:00:00 AM
Abstract :
This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and raise it to its uppermost unstable equilibrium position. The balancing control is based on an energy approach and the passivity properties of the system
Keywords :
Lyapunov methods; nonlinear systems; position control; robot dynamics; stability; Lyapunov function; Pendubot; balancing control; energy based control; nonlinear systems; passivity; position control; stability; swinging; underactuated two-link robot; Actuators; Control systems; Couplings; Educational robots; Equations; Friction; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Stability analysis;
Journal_Title :
Automatic Control, IEEE Transactions on
