Nonlinear stabilizer with nonconstant vector Г for the Pendubot based on controlled Lagrangians method

Author

Li, Mao-Qing

Author_Institution

Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2009

fDate

17-19 June 2009

Firstpage

2889

Lastpage

2894

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCDC.2009.5192692

Filename

5192692