Title :
Hybrid control for the Pendubot
Author :
Tarn, Tzyh-Jong ; Zhang, Mingjun ; Celani, Fabio
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
New coordinate independent integrability conditions for second order nonholonomic systems, and hybrid control theorem for feedback stabilization of second order nonholonomic systems have been applied for control of the Pendubot, a test bed for dynamics and control of nonlinear systems. It is a 2-link planar robot with an actuator at the shoulder and no actuator at the elbow. Experimental results show that the hybrid control works very well and very robust
Keywords :
feedback; manipulator dynamics; nonlinear control systems; pendulums; robust control; 2-link planar robot; Pendubot; coordinate independent integrability conditions; feedback stabilization; hybrid control; nonlinear system control; nonlinear system dynamics; pendulum robot; robust control; second-order nonholonomic systems; Actuators; Control systems; Equations; Feedback; Manipulator dynamics; Mathematics; Mechanical systems; Optimal control; Robot kinematics; Robust control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972595
