DocumentCode
2124732
Title
Effect of a novel control input on swing up of a pendubot
Author
Neetha, P.
Author_Institution
Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Trichy, India
fYear
2012
fDate
27-30 Aug. 2012
Firstpage
297
Lastpage
302
Abstract
This paper proposes a novel control input for swing up of a pendubot. The input is derived from the proposed control Hamiltonian function. The input so derived is capable of swinging link 1 to the upright position with an added error of +1 radians to the desired angular position. Additionally, the control input sets the system to different equilibrium manifolds depending on the selected parameter values. The efficacy of this approach is demonstrated through simulation results.
Keywords
manipulator kinematics; position control; Hamiltonian function; angular position; control input; equilibrium manifold; manipulator kinematics; parameter value; pendubot; swing up; swinging link; Equations; Manifolds; Manipulators; Mathematical model; Optimal control; Simulation; Trajectory; Control Hamiltonian; Kinematics of a Manipulator; Underactuated;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location
Miedzyzdrojie
Print_ISBN
978-1-4673-2121-1
Type
conf
DOI
10.1109/MMAR.2012.6347871
Filename
6347871
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