NDLI: Hybrid control of the Pendubot

Content Provider	IEEE Xplore Digital Library
Author	Mingjun Zhang Tzyh-Jong Tarn
Copyright Year	1996
Abstract	Swing up and balance control are two interesting control problems for the Pendubot. Many studies have been conducted for swing up control of the Pendubot. A few results have been reported for feedback stabilization of the Pendubot. In this paper, we apply a new hybrid controller for feedback stabilization of the Pendubot. It is well-known that it is impossible to use smooth feedback to stabilize a class of underactuated mechanical systems around their equilibra, even locally. Various nonsmooth controllers have been presented for feedback stabilization of this type of system. However, most of the studies are either based on theoretical proofs or simulations. There is a strong need for experimental study. The Pendubot arises as a special test bed for this purpose. This experimental study has a particular interest for feedback stabilization of underactuated mechanical systems that are not feedback stabilizable using smooth control.
Starting Page	79
Ending Page	86
Page Count	8
File Size	304982
File Format	PDF
ISSN	10834435
Volume Number	7
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Mechanical systems Robots Switches Testing Elbow Regulators State feedback Position control Stability
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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