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
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656484
