Title :
Dynamic singularities in nonlinear control of underactuated pendulum-like models
Author :
Lukomski, Adam Wojciech
Author_Institution :
Dept. of Control & Meas., West Pomeranian Univ. of Technol., Szczecin, Poland
Abstract :
The paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. The dynamic singularities are caused by the decoupling matrix being singular for particular configurations. The examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.
Keywords :
feedback; humanoid robots; linearisation techniques; manipulators; nonlinear control systems; pendulums; stability; 3-link 3D pendulum; 3-link planar pendulum; decoupling matrix; dynamic singularities; humanoid-like robot model; input-output feedback linearisation; n-link pendulum-like models; nonlinear control; partial stabilisation; underactuated pendulum-like models; Knee; Mathematical model; Numerical models; Robots; Solid modeling; Three-dimensional displays; Transmission line matrix methods;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957385
