DocumentCode
3124499
Title
Stabilization for a class of underactuated mechanical systems
Author
Mnif, F. ; Ghommem, J.
Author_Institution
Dept. of Electr. Eng., Sultan Qaboos Univ., Muscat, Oman
Volume
6
fYear
2002
fDate
6-9 Oct. 2002
Abstract
We study the control problem for a special class of underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.
Keywords
control system synthesis; nonlinear control systems; pendulums; stability; loop equilibrium; nonlinear feedback controller; nontriangular form underactuated systems; semiglobal stability; underactuated mechanical systems; whirling 2 DOF underactuated pendulum; Mechanical systems; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2002 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7437-1
Type
conf
DOI
10.1109/ICSMC.2002.1175633
Filename
1175633
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