Title :
Nonlinear stabilizer with nonconstant vector Г for the Pendubot based on controlled Lagrangians method
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
This paper concerns stabilization of the Pendubot by controller design for underactuated mechanical systems with two degrees of freedom (DOF) based on the controlled Lagrangians method. A solution with a nonconstant vector Gamma is found for the kinetic energy equation in the necessary and sufficient matching condition. As a contribution, the range of system parameters is enlarged in which the 2-DOF Pendubots can be locally asymptotically stabilized by the resulting nonlinear smooth controller.
Keywords :
asymptotic stability; control system synthesis; manipulators; nonlinear control systems; Pendubot stabilization; asymptotic stability; controlled Lagrangians method; controller design; kinetic energy equation; nonconstant vector; nonlinear smooth controller; nonlinear stabilizer; underactuated mechanical systems; Control design; Control systems; Differential equations; Force control; Kinetic energy; Lagrangian functions; Linear feedback control systems; Mechanical systems; Mechanical variables control; Nonlinear equations; controlled Lagrangians method; gyroscopic forces; matching condition; stabilization; the Pendubot; underactuated mechanical systems;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5192692
