DocumentCode
2031725
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
Volume
3
fYear
2000
fDate
2000
Firstpage
2070
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.972595
Filename
972595
Link To Document