Modelling and control of a underactuated sphere and beam system

DOI10.1016/J.CNSNS.2010.04.048MaRDI QIDQ718547zbMATH OpenOpenAlexFDO

Authors Andrzej Burghardt, Józef Giergiel

Publication date 23 September 2011

Published in Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.cnsns.2010.04.048

zbMATH Keywords

adaptive controlbeamLagrange's equationsphereunderactuated systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Adaptive control/observation systems (93C40)

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Cites work

• Configuration Controllability of Simple Mechanical Control Systems
• Control of underactuated mechanical systems with servo-constraints
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• scientific article; zbMATH DE number 1059351 (Why is no real title available?)
• Lie Brackets and Local Controllability: A Sufficient Condition for Scalar-Input Systems
• Stability of a bottom-heavy underwater vehicle

Cited in

(2)

• Asymptotic stabilisation of the ball and beam system: design of energy-based control law and experimental results
• Incremental sliding mode control of the ball and beam

Describes a project that uses

Uses Software

• Matlab
• Simulink

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