Stabilization of a Cart-Inverted Pendulum with Interconnection and Damping Assignment Passivity-Based Control Focusing on the Kinetic Energy Shaping
نویسندگان
چکیده
منابع مشابه
Interconnection and Damping Assignment Passivity--Based Control of the Pendubot
In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.
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ژورنال
عنوان ژورنال: Journal of System Design and Dynamics
سال: 2010
ISSN: 1881-3046
DOI: 10.1299/jsdd.4.698