Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation

被引：17
|
作者：
Young, Amanda [1 ]
Cao, Chengyu [1 ]
Hovakimyan, Naira [1 ]
Lavretsky, Eugene [2 ]
机构：
[1] Virginia Polytech Inst & State Univ, Blacksburg, VA 24061 USA
[2] Boeing Co Phantom Works, Huntington Beach, CA 92647 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1656484
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new method is presented for control of nonaffine double pendulum system via dynamic inversion and time-scale separation. Tbe control signal is defined as a solution of "fast" dynamics, and the coupled system is shown to be stable using the framework of Tikhonov's theorem from singular perturbations theory. Simulations illustrate the theoretical results.
引用
收藏
页码：1820 / +
页数：2
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