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

DOI10.1002/rnc.5472zbMath1526.93179OpenAlexW3135419405MaRDI QIDQ6089757

Xin Xin, Unnamed Author, Yannian Liu, Shinsaku Izumi, Taiga Yamasaki

Publication date: 13 November 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.5472

zbMATH Keywords

nonlinear controlLyapunov stabilitypassivityPendubotunderactuated mechanical systemsnegative stiffnessanti-swing controllinear or nonlinear spring

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Swinging up a pendulum by energy control
• An efficient online trajectory generating method for underactuated crane systems
• Energy based control of the Pendubot
• Sliding mode output‐feedback causal output tracking for a class of discrete‐time nonlinear systems
• Maximal feedback linearization and its internal dynamics with applications to mechanical systems on
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
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