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

页码：32 / 39

页数：8

共 8 条

[1] Deng M., 2007, DYNAM CONT DIS SER A, V5, P1123
[2] Deng MC, 2008, ASIAN J CONTROL, V10, P121, DOI [10.1002/asjc.13, 10.1002/asjc.013]
[3] Attitude control system design and application on a helicopter experimental system
Deng, Mingcong
Inoue, Akira
[J]. INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2008, 4 (04) : 373 - 382
[4] Henmi T, 2004, P AMER CONTR CONF, P3992
[5] Henmi T., 2005, T JSME C, V71
[6] Henmi T, 2007, ADVANCES IN DYNAMICS, INSTRUMENTATION AND CONTROL, VOL II, P146
[7] INOUE A, 2004, J CONTROL THEORY APP, V21, P709
[8] Inoue A, 2006, INT J AUTOM COMPUT, V3, P229, DOI 10.1007/s11633-006-0229-z

← 1 →