DocumentCode
2466530
Title
The structure of 2-bodies mechanical systems
Author
Zikmund, Jiri ; Moog, Claude H.
Author_Institution
Fac. of Electr. Eng., Czech Tech. Univ., Prague
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
6454
Lastpage
6459
Abstract
Under-actuated 2-bodies mechanical systems with 1 actuator are considered. This family of systems includes the double pendulum, the inverted pendulum on a cart, the acrobot, the pendubot... and other systems with two degrees of freedom but only one actuated joint. The maximal linearization problem is investigated and it is shown that these systems may be classified into two subfamilies depending whether or not they have a actuated shape variable or not. In one case, it is possible to solve the maximal linearization problem with internal stability
Keywords
linearisation techniques; mechanics; nonlinear control systems; robots; stability; 2-bodies mechanical systems; acrobot; actuator; degrees of freedom; double pendulum; internal stability; inverted pendulum; maximal linearization; pendubot; Actuators; Control systems; Information theory; Kinetic theory; Legged locomotion; Mechanical systems; Shape; Stability; State feedback; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.377516
Filename
4177167
Link To Document