Energy based control of the Pendubot

Authors
Fantoni, I Lozano, R Spong, MW
Citation
I. Fantoni et al., Energy based control of the Pendubot, IEEE AUTO C, 45(4), 2000, pp. 725-729
Citations number
17
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
45
Issue
4
Year of publication
2000
Pages
725 - 729
Database
ISI
SICI code
0018-9286(200004)45:4<725:EBCOTP>2.0.ZU;2-Q
Abstract
This paper presents the control of an underactuated two-link robot called t he Pendubot. We propose a controller for swinging the linkage and rise it t o its uppermost unstable equilibrium position. The balancing control is bas ed on an energy approach and the passivity properties of the system.