DocumentCode
1747502
Title
Hybrid control for the Pendubot
Author
Zhang, Mingjun ; Tarn, Tzyh-Jong
Author_Institution
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Volume
2
fYear
2001
fDate
2001
Firstpage
2102
Abstract
A new hybrid controller has been applied for feedback stabilization of a Pendubot, whose dynamics show second order nonholonomic properties. Experimental results for different test cases show that the hybrid control outperforms the existing control algorithm. This successful implementation provides a novel alternative for the control of under-actuated mechanical systems. Many such systems are subject to second order non-integrable differential constraints.
Keywords
feedback; nonlinear systems; robot dynamics; stability; Pendubot; differential constraints; dynamics; feedback; hybrid control; nonholonomic systems; stabilization; two link planar robot; Control systems; Elbow; Equations; Feedback; Manipulator dynamics; Mechanical systems; Nonlinear control systems; Optimal control; Robots; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932917
Filename
932917
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