Zeno Mode Control of Underactuated Mechanical Systems with Application to Pendubot Stabilization around the Upright Position
نویسندگان
چکیده
Switched control synthesis is developed for underactuated mechanical systems. In order to locally stabilize an underactuated system around an unstable equilibrium, its output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Once such an output has been chosen, the desired stability property of the closed-loop system is provided by applying a Zeno mode controller, driving the system to the zero dynamics manifold in finite time. Although the present synthesis exhibits the Zeno behavior with an infinite number of switches on a finite time interval, it does not rely on the generation of sliding modes, while providing robustness features similar to those possessed by their sliding mode counterparts. Theoretical results are supported by a simulation study made for a Pendubot. Copyright c ©2005 IFAC
منابع مشابه
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...
متن کاملThe Swing up Control for the Pendubot Based on Energy Control Approach
This paper studies the energy based control of an underactuated two-link robot called the Pendubot. After having investigated the characteristics of the closedloop system with the energy based control law (Fantoni et al., 2000) for swinging the Pendubot up, this paper proposes a sufficient condition about parameters in the control law such that the total energy of the Pendubot will converge to ...
متن کاملInterconnection and Damping Assignment Passivity--Based Control of the Pendubot
In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.
متن کاملControl of Pendubot Using Input-output Feedback Linearization and Predictive Control
In applying nonlinear model-predictive control to fast unstable systems, the main difficulty is that the optimization cannot be finished within one sampling interval. To solve this problem, a cascade-control scheme has been proposed, where input-output feedback linearization forms the inner loop and nonlinear predictive control the outer loop. Thus, the nonlinear predictive control has to handl...
متن کاملMINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
متن کامل