Energy based control of the Pendubot
نویسندگان
چکیده
This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and rise it to its uppermost unstable equilibrium position. The balancing control is based on an energy approach and the passivity properties of the system.
منابع مشابه
The Swing up Control for the Pendubot Based on Energy Control Approach
This paper studies the energy based control of an underactuated two-link robot called the Pendubot. After having investigated the characteristics of the closedloop system with the energy based control law (Fantoni et al., 2000) for swinging the Pendubot up, this paper proposes a sufficient condition about parameters in the control law such that the total energy of the Pendubot will converge to ...
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عنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 45 شماره
صفحات -
تاریخ انتشار 2000