Title :
Discrete-Time Modeling and Control of an Under-actuated Robotic System
Author :
Rivera, Jorge ; García, Luis ; Ortega, Susana ; Raygoza, Juan
Author_Institution :
Dept. of Electron. Eng., Univ. of Guadalajara, Guadalajara, Mexico
fDate :
Sept. 28 2010-Oct. 1 2010
Abstract :
In this work a discrete-time model for the Pendubot is proposed based on the symplectic Euler method. Then, a discrete-time sliding mode controller and observer are designed. A simulation study is carried on in order to verify the good performance of the proposed modeling and control scheme when compared to the case of using explicit Euler method for discrete-time modeling.
Keywords :
actuators; discrete time systems; mobile robots; nonlinear control systems; robot dynamics; variable structure systems; Pendubot; discrete time modeling; discrete time sliding mode controller; symplectic Euler method; under actuated robotic system; Approximation methods; Equations; Manifolds; Mathematical model; Observers; Robots; Steady-state;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location :
Morelos
Print_ISBN :
978-1-4244-8149-1
DOI :
10.1109/CERMA.2010.120
