DocumentCode
3467006
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
fYear
2011
fDate
22-25 Aug. 2011
Firstpage
407
Lastpage
412
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMAR.2011.6031382
Filename
6031382
Link To Document