Hybrid Control for the Pendubot
نویسندگان
چکیده
A new hybrid controller has been applied for feedback stabilization of a Pendubot, whose dynamics show second order nonholonomic properties. Experimental results for di erent test cases show that hybrid control outperforms the existing control algorithm. This successful implementation provides a novel alternative for the control of under-actuated mechanical systems. Many such systems are subject to second order nonintegrable di erential constraints.
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Hybrid Control of the Pendubot
Swing up and balance control are two interesting control problems for the Pendubot. Many studies have been conducted for swing up control of the Pendubot. A few results have been reported for feedback stabilization of the Pendubot. In this paper, we will apply a new hybrid controller for feedback stabilization of the Pendubot. To the best of the authors’ knowledge, this is the first implementat...
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