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

DOI10.1002/RNC.5472zbMATH Open1526.93179OpenAlexW3135419405MaRDI QIDQ6089757FDOQ6089757

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

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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)

Cites Work

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

Cited In (1)

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

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