ENERGY-BASED NONLINEAR CONTROL OF PENDUBOT

FU Xue-dong, PEI Hai-long, WU Guo-zhao. ENERGY-BASED NONLINEAR CONTROL OF PENDUBOT[J]. ROBOT, 2000, 22(6): 451-456.

Citation:

FU Xue-dong, PEI Hai-long, WU Guo-zhao. ENERGY-BASED NONLINEAR CONTROL OF PENDUBOT[J]. ROBOT, 2000, 22(6): 451-456.

Citation:

FU Xue-dong, PEI Hai-long, WU Guo-zhao. ENERGY-BASED NONLINEAR CONTROL OF PENDUBOT[J]. ROBOT, 2000, 22(6): 451-456.

Abstract

This paper presents the nonlinear control of an underactuated two-link robot called Pendubot. We propose two controllers based on energy to swing up the system to its upright position and use a new LQR controller to balance and stable it.

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