Nonlinear Global Stabilization Control for the Underactuated WAcrobot System
نویسندگان
چکیده
منابع مشابه
Composite Nonlinear Feedback Control for an Underactuated Gantry System
This paper investigates the design of composite nonlinear feedback (CNF) control law for an underactuated gantry crane system to achieve positioning and anti-swing control. First, the dynamic model of a nonlinear underactuated gantry crane system is established by using the Euler-Lagrange modeling method. Then, the CNF control law is designed for the system to improve the anti-swing performance...
متن کاملNonlinear Coupling Control Laws for an Underactuated Overhead Crane System
In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle’s invariant set theorem, we first illustrate how a simple proportional–derivativ...
متن کاملNonlinear Feedback Control with Global Stabilization
Hamilton-Jacobi-Bellman theory is shown to provide a unified framework for nonlinear feedback control laws for special classes of nonlinear systems. These classes include Jurdjevic-Quinn type systems, as well as minimum phase systems with relative degree {1, 1 . . . . . 1}. Several examples are given to illustrate these results. For the controlled Lorenz equation, results obtained by Vincent an...
متن کاملImproving Nonlinear Control for Underactuated Satellite Orientation
Improvement of orientation control laws for an underactuated satellite, is attemted using a nonlinear optimal control algorithm derived by Beard, et al. 1. A control law for an underactuated satellite would be used when the spacecraft is damaged during it's mission. Because of the immense cost in accessing space, recovery and repair is uncommon. Also, for this reason, it is necessary to maximiz...
متن کاملControl of Nonlinear Underactuated Systems
In this paper we introduce a new method to design control laws for non-linear un-deractuated systems. Our method will often work in situations where standard control techniques fail. Even when standard techniques apply, we believe that our approach will achieve better performance. This is because we produce an infinite dimensional family of control laws, whereas most control techniques only pro...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2020
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2020/3920535