• DocumentCode
    2277648
  • Title

    Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation

  • Author

    Young, Amanda ; Cao, Chengyu ; Hovakimyan, Naira ; Lavretsky, Eugene

  • Author_Institution
    Virginia Polytech. Inst. & State Univ., Blacksburg, VA
  • fYear
    2006
  • fDate
    14-16 June 2006
  • Abstract
    A new method is presented for control of nonaffine double pendulum system via dynamic inversion and time-scale separation. The control signal is defined as a solution of "fast" dynamics, and the coupled system is shown to be stable using the framework of Tikhonov\´s theorem from singular perturbations theory. Simulations illustrate the theoretical results
  • Keywords
    nonlinear control systems; pendulums; singularly perturbed systems; Tikhonov theorem; coupled system; dynamic inversion; fast dynamics; nonaffine double pendulum system; pendulum control signal; singular perturbations theory; time-scale separation; Backstepping; Control systems; Cranes; Equations; Genetic algorithms; Joining processes; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Torque control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2006
  • Conference_Location
    Minneapolis, MN
  • Print_ISBN
    1-4244-0209-3
  • Electronic_ISBN
    1-4244-0209-3
  • Type

    conf

  • DOI
    10.1109/ACC.2006.1656484
  • Filename
    1656484
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2277648