Title :
On global properties of passivity based control for swinging Pendubot
Author :
Kolesnichenko, O. ; Shiriaev, A.
Author_Institution :
Dept. of Math. & Mech., St. Petersburg State Univ., Russia
Abstract :
Consider a two-link robot with an actuator at the shoulder (link 1) and no actuator at the elbow. It called the Pendubot. It is shown that depending on the parameter of the controller the number of connected components could be equal an arbitrary positive constant. We show how to minimize them to 2 components, one of which is the desired attractive set V0 and another is an equilibrium being outside of the set V0
Keywords :
closed loop systems; feedback; robot kinematics; arbitrary positive constant; connected components; global properties; passivity based control; swinging Pendubot; two-link robot; Actuators; Closed loop systems; Control systems; Elbow; Equations; Mathematics; Production; Robots; Switches;
Conference_Titel :
Control of Oscillations and Chaos, 2000. Proceedings. 2000 2nd International Conference
Conference_Location :
St. Petersburg
Print_ISBN :
0-7803-6434-1
DOI :
10.1109/COC.2000.873502
