Matching and Digital Control Implementation for Underactuated Systems
نویسندگان
چکیده
This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family.
منابع مشابه
Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection
Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...
متن کاملControl of Underactuated Manipulators using Variable Period Deadbeat Control
A new digital control method for a time varying sampled data system called a variable period deadbeat control is proposed to control high order nonholonomic chained systems with drift terms. This control law has a potential to avoid an excessive overshoot to prevent the trajectories close to the singular manifold of the transformation needed to obtain the chained forms. The control will be appl...
متن کاملDesign and Implementation of Digital Demodulator for Frequency Modulated CW Radar (RESEARCH NOTE)
Radar Signal Processing has been an interesting area of research for realization of programmable digital signal processor using VLSI design techniques. Digital Signal Processing (DSP) algorithms have been an integral design methodology for implementation of high speed application specific real-time systems especially for high resolution radar. CORDIC algorithm, in recent times, is turned out to...
متن کاملMatching Control Laws for a Ball and Beam System
This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is found explicitly. Copyright c © 2000 IFAC
متن کاملControl of underactuated mechanical systems
In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
متن کامل