Anti‐Swing control of the Pendubot using damper and spring with positive or negative stiffness

DOI10.1002/RNC.5472MaRDI QIDQ6089757zbMATHOpenAlexFDO

Authors Xin Xin, Shinsaku Izumi, Taiga Yamasaki, Yannian Liu

Publication date 13 November 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.5472

zbMATH Keywords

nonlinear controlLyapunov stabilitypassivityunderactuated mechanical systemsnegative stiffnessanti-swing controlPendubotlinear or nonlinear spring

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• An efficient online trajectory generating method for underactuated crane systems
• CRC standard mathematical tables and formulas
• Energy based control of the Pendubot
• Maximal feedback linearization and its internal dynamics with applications to mechanical systems on \(\mathbb{R}^4\)
• Nonlinear systems.
• Sliding mode output‐feedback causal output tracking for a class of discrete‐time nonlinear systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Swinging up a pendulum by energy control

Cited in

(1)

• A swing-up of the acrobot based on a simple pendulum strategy

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