Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

Bonifacio Sánchez; Patricio Ordaz; Omar Santos

doi:10.1002/asjc.1925

journal article Oct 17, 2018

Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

Bonifacio Sánchez Patricio Ordaz

Omar Santos

Asian Journal of Control Vol. 22 No. 1 pp. 34-48 · Wiley

View at Publisher Save 10.1002/asjc.1925

Abstract

Abstract

This paper deals with the smooth control design for Swing‐Stabilization Up of underactuated pendular robot. The considered system has, at least, two different no actuated links, one of them is pendular like elbow, the other one is prismatic and elastic. Thus, the control aim is to swing‐up and stabilize the underactuated system by using non‐switched control algorithm. To this, the control algorithm summarizes the concept of sub‐optimal control, the energy based control and the Kalman's canonical decomposition to unify the Swing‐Up and Stabilization of the considered underactuated system. In order to test the designed control algorithm, experimental results are presented for the non‐conventional
rotatory elastic‐pendulum
system.

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Citations

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References

Details

Published: Oct 17, 2018
Vol/Issue: 22(1)
Pages: 34-48
License: View

Authors

B

Bonifacio Sánchez

Automatic Control Department at Cinvestav‐Mexico

P

Patricio Ordaz

Department of Automation and Control Autonomous University of Hidalgo State Mexico

O

Omar Santos

Department of Automation and Control Autonomous University of Hidalgo State Mexico

Funding

PRODEP Award: DSA/103.5/16/10282

Cite This Article

Bonifacio Sánchez, Patricio Ordaz, Omar Santos (2018). Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control. Asian Journal of Control, 22(1), 34-48. https://doi.org/10.1002/asjc.1925

Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

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