Nonlinear Control of a Novel Two-Link Pendulum
Abstract
This paper describes nonlinear control of a two degree of freedom mechanical system which models a bird perched on a branch or cable. The primary contribution is the implementation, in a controlled laboratory experiment, of the recently developed C\ adaptive control approach. This technique, which allows fast adaptation with guaranteed stability margins, has been proposed for use in a variety of more sophisticated applications. Experimental results for this simple mechanical control system provide further motivation to pursue those applications. The system being considered is a variation of Spong's "Acrobot", a classic example of an underactuated mechanical control system. In addition to the ℒ_1 controller, a swing-up controller based on Spong's original work on collocated partial feedback linearization is implemented with switching logic.
Additional Information
© 2007 IEEE. The authors gratefully acknowledge the input of the anonymous reviewers. The work was sponsored in part by NSF Grant #CMS0133210 and AFOSR Grant #FA9550-05-1-0157.Attached Files
Published - 04282946.pdf
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Additional details
- Eprint ID
- 76878
- Resolver ID
- CaltechAUTHORS:20170424-155557864
- CMS-0133210
- NSF
- FA9550-05-1-0157
- Air Force Office of Scientific Research (AFOSR)
- Created
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2017-04-24Created from EPrint's datestamp field
- Updated
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2021-11-15Created from EPrint's last_modified field