Swing-stabilization up for a rotatory-elastic pendulum via nonlinear sub-optimal control

DOI10.1002/ASJC.1925MaRDI QIDQ6563305FDO

Authors B. Sánchez, Patricio Ordaz, Omar Santos

Publication date 27 June 2024

Published in Asian Journal of Control (Search for Journal in Brave)

zbMATH Keywords

underactuated systemssub-optimal controlnon-switched controlswing-up and stabilization

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Recommendations

• Toward a generalized sub-optimal control method of underactuated systems
• Energy based control of the Pendubot
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Energy control of a pendulum with elastic joint
• A swinging up controller for the Furuta pendulum based on the total energy control system approach.

Cites work

• Control design and analysis for underactuated robotic systems
• Dynamics and control of a class of underactuated mechanical systems
• Human-Inspired Control of Bipedal Walking Robots
• Normal forms for underactuated mechanical systems with symmetry
• Switched finite time control of a class of underactuated systems.
• Toward a generalized sub-optimal control method of underactuated systems

Cited in

(1)

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

This page was built for publication: Swing-stabilization up for a rotatory-elastic pendulum via nonlinear sub-optimal control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6563305)