Non-linear control of under-actuated mechanical systems

被引：4
|
作者：
Inoue, Akira [1 ]
Deng, Mingcong [1 ]
机构：
[1] Okayama Univ, Dept Syst Engn, 3-1-1 Tsushima Naka, Okayama 7008530, Japan
来源：
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2009年 / 6卷 / 01期
关键词：
inverted pendulum; Acrobot; helicopter; under-actuated system; non-linear control;
D O I：
10.1504/IJMIC.2009.023528
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, non-linear controls of three kinds of under-actuated mechanical systems are summarised. The systems are: inverted pendulum systems, Acrobot system and helicopter experimental system. In particular, concerning the inverted pendulum system, a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum are introduced. For the systems, different controller design schemes are considered. Experimental results on the systems are also shown.
引用
收藏
页码：32 / 39
页数：8
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