Title :
Singularities in feedback linearisation of an underactuated 3-link pendulum
Author :
Lukomski, Adam Wojciech ; Barcinski, Tomasz
Author_Institution :
Dept. of Control & Meas., West Pomeranian Univ. of Technol. in Szczecin, Szczecin, Poland
Abstract :
Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.
Keywords :
feedback; linearisation techniques; nonlinear control systems; pendulums; decoupling matrix; global feedback linearisation problem; nonlinear singularity-free feedback linearisation controlled system; underactuated 3-link pendulum; Educational institutions; Equations; Mathematical model; Nonlinear systems; Torque; Tuning; Visualization;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2011 16th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4577-0912-8
DOI :
10.1109/MMAR.2011.6031382
