Title :
Passivity based control of the Pendubot
Author :
Fantoni, Isabelle ; Lozano, Rogelio ; Spong, Mark W.
Author_Institution :
Heudiasyc, CNRS, Compiegne, France
Abstract :
This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and raise it to its uppermost unstable equilibrium position. The balancing control is based on the passivity properties of the system
Keywords :
Lyapunov methods; motion control; nonlinear dynamical systems; robot dynamics; stability; LaSalle theorem; Lyapunov function; Pendubot; balancing control; dynamics; nonlinear dynamical systems; passivity based control; stabilisation; stability; two-link robot; unstable equilibrium point; Actuators; Control systems; Couplings; Educational robots; Elbow; Friction; Linear feedback control systems; Nonlinear control systems; Robot control; Unified modeling language;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782782
