On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control
نویسندگان
چکیده
This letter investigates the stability properties of soft inverted pendulum with affine curvature - a template model for nonlinear control underactuated robots. We look at how changes in physical parameters affect and equilibrium. give conditions under which zero dynamics corresponding to collocated choice output is (locally or globally) stable unstable. leverage these results design switching controller that stabilizes class equilibria pendulum, can drive system from one equilibrium another.
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2023
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2022.3187612