Title :
Simple control scheme for a class of underactuated mechanical system with tree structure
Author :
Choukchou-Braham, Amal ; Cherki, Brahim
Author_Institution :
Lab. d´Autom. de Tlemcen, Univ. of Aboubekr Belkaid, Tlemcen, Algeria
Abstract :
This paper investigates a new and simple control design for underatuated mechanical system with control diagram flow in tree structure. In such systems, the control input is related to more than one degree of freedom simultaneously. The idea is to include in the control law expression terms that act on theses variables at the same time. The procedure is applied to the stabilization of the popular inverted pendulum and its efficiency is showed through numerical simulations.
Keywords :
control system synthesis; nonlinear control systems; pendulums; stability; control design; control diagram flow; control law expression terms; inverted pendulum stabilization; numerical simulations; tree structure; underactuated mechanical system; Acceleration; Backstepping; Computational fluid dynamics; Control design; Mechanical systems; Systematics; CFD; Underactuated system; inverted pendulum; simultaneous control; stability; tree structure;
Conference_Titel :
Control, Engineering & Information Technology (CEIT), 2015 3rd International Conference on
Conference_Location :
Tlemcen
DOI :
10.1109/CEIT.2015.7233142
