Nonlinear Stabilizer with Nonconstant Vector Γ for the Pendubot Based on Controlled Lagrangians Method

摘要：

This paper concerns stabilization of the Pendubot by controller design for underactuated mechanical systems with two degrees of freedom (DOF) based on the controlled Lagrangians method. A solution with a nonconstant vector Γ is found for the kinetic energy equation in the necessary and sufficient matching condition. As a contribution, the range of system parameters is enlarged in which the 2-DOF Pendubots can be locally asymptotically stabilized by the resulting nonlinear smooth controller.

关键词： underactuated mechanical systems controlled Lagrangians method gyroscopic forces matching condition stabilization the Pendubot

作者: Mao-Qing Li

作者单位: The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 2889-2894

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）