Energy based control of the Pendubot

被引：329

作者：

Fantoni, I ^{[1
]}

Lozano, R

Spong, MW

机构：

[1] Univ Technol Compiegne, Dept Heudiasyc, F-60205 Compiegne, France

[2] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 04期

关键词：

nonlinear systems; passivity; pendubot; underactuated systems;

D O I：

10.1109/9.847110

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：725 / 729

页数：5

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