DocumentCode
2173467
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
fYear
2010
fDate
Sept. 28 2010-Oct. 1 2010
Firstpage
508
Lastpage
514
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location
Morelos
Print_ISBN
978-1-4244-8149-1
Type
conf
DOI
10.1109/CERMA.2010.120
Filename
5692388
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