DocumentCode
1347529
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
Volume
45
Issue
4
fYear
2000
fDate
4/1/2000 12:00:00 AM
Firstpage
725
Lastpage
729
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.847110
Filename
847110
Link To Document