Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose

DOI10.1007/s11044-010-9228-5zbMath1218.93085OpenAlexW2138676512MaRDI QIDQ617337

Alexander M. Formalskii, Yannick Aoustin, Yu. G. Martynenko

Publication date: 21 January 2011

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-010-9228-5

zbMATH Keywords

stabilizationsaturated controlunstable equilibriumpendubotswing upunderactuated system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Stability of control systems (93D99)

Related Items (5)

A simple and quick control strategy for a class of first-order nonholonomic manipulator ⋮ Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics ⋮ Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control ⋮ An experiment with swinging up a double pendulum using feedback control ⋮ Bringing a multilink pendulum to the equilibrium position using a single control torque

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