Nonlinear Control of Underactuated Horizontal Double Pendulum

Name: Nonlinear Control of Underactuated Horizontal Double Pendulum
Brand: VDM Verlag Dr. Müller
SKU: 9783639182194
Price: 253.75 RON
Availability: InStock

Nonlinear Control

Autor: Cristian Popescu

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Editura: VDM Verlag Dr. Müller

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Underactuated systems are those possessing fewer actuators than degrees of freedom. The double inver...

Informații despre carte

Autor

Cristian Popescu

Limbă

engleză

Legare

Carte - Carte broșată

Publicat

2009

Pagini

132

EAN

9783639182194

Enbook ID

06826427

Editura

VDM Verlag Dr. Müller

Dimensiuni

150 x 220 x 8

Descriere completă

Underactuated systems are those possessing fewer actuators than degrees of freedom. The double inverted pendulum is a particular underactuated system and a well-known benchmark case for which many solutions have been offered in the literature. The control objective is to bring the system to its unstable top equilibrium point. The underactuated horizontal double pendulum is a two-link planar robot with only one actuator either at the shoulder or the elbow. The fundamental difference between a double inverted pendulum and an underactuated horizontal double pendulum is that in the latter gravity effects do not exist. Gravity is important to the controllability of the system. Therefore, we added springs in the underactuated horizontal double pendulum in order to create a source of potential energy. Two different types of such systems are analyzed: spring coupled underactuated horizontal double pendulums and underactuated horizontal double pendulums with spring-loaded sliding bar constraint. The main contribution of this work is in proving that the zero state of the spring coupled systems is globally asymptotically stabilizable. Explicit control laws were developed.

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Nonlinear Control of Underactuated Horizontal Double Pendulum

Nonlinear Control

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