Title :
Nonlinear regulation of an underactuated system
Author :
Ramos, L.E. ; Castillo-Toledo, B. ; Alvarez, J.
Author_Institution :
CINVESTAV-IPN, Mexico City, Mexico
Abstract :
Underactuated mechanisms provide significant challenges to control engineers. In this paper a nonlinear controller, based on regulation theory is applied to an underactuated system, the so-called Pendubot, consisting in a double pendulum actuated only at the first joint. Simulation and experimental results for tracking a reference signal are presented
Keywords :
closed loop systems; control system synthesis; nonlinear control systems; position control; robots; state feedback; Pendubot; double pendulum; nonlinear controller; nonlinear regulation; reference signal tracking; regulation theory; underactuated system; Actuators; Control systems; Eigenvalues and eigenfunctions; Jacobian matrices; Nonlinear control systems; Nonlinear equations; Regulators; Robots; State feedback; Turning;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606790
