Application of the IDA-PBC in the stabilization of the system Pendubot

被引：0

作者：

Acosta, Vivian ^{[1
]}

Rios-Bolivar, Miguel ^{[2
]}

机构：

[1] ULA, Fac Ingn, Dept Calculo, Merida 5101, Venezuela

[2] ULA, Fac Ingn, Dept Sistemas Control, Merida 5101, Venezuela

来源：

CIENCIA E INGENIERIA | 2010年 / 31卷 / 01期

关键词：

IDA-PBC; underactuated system; Pendubot;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper we consider the application of the Interconnection and Damping Injection (IDA-PBC) approach to the problem of the stabilization of the Pendubot, as an underactuated mechanical system. To reach this objective the mechanical system is transformed to its Port controlled Hamiltonian form, synthesizing later a control law applying the IDA-PBC. In order to improve the acting of the control law, we propose to combine the controller IDA-PBC with a lineal control law. The performance of the controller is shown in digital simulations.

引用

页码：3 / 11

页数：9

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