scholarly journals A Manipulated Deformable Object as an Underactuated Mechanical System

2000 ◽  
pp. 175-196 ◽  
Author(s):  
H. G. Tanner ◽  
K. J. Kyriakopoulos
Keyword(s):  
Mechanical System ◽  
Deformable Object ◽  
Underactuated Mechanical System

Global Bifurcation Analysis of a Controlled Underactuated Mechanical System

2005 ◽  
Vol 40 (3) ◽  
pp. 205-225 ◽  
Author(s):  
Diego M. Alonso ◽  
Eduardo E. Paolini ◽  
Jorge L. Moiola
Keyword(s):  
Mechanical System ◽  
Bifurcation Analysis ◽  
Global Bifurcation ◽  
Underactuated Mechanical System

Nonlinear Control of an Inverted Pendulum on a Cart by a Single Control Law

2013 ◽  
Vol 464 ◽  
pp. 279-284 ◽  
Author(s):  
Aydın Özbey ◽  
Erol Uzal ◽  
Hüseyin Yildiz
Keyword(s):  
Nonlinear Control ◽  
Global Stability ◽  
Mechanical System ◽  
Feedback Linearization ◽  
Numerical Experiments ◽  
Inverted Pendulum ◽  
Vertical Position ◽  
Control Law ◽  
Underactuated Mechanical System ◽  
Control Scheme

Stabilization at the top vertical position of an inverted pendulum on a cart, while bringing the cart to a desired position, by applying a force to the cart is considered. This is an underactuated mechanical system for which the main nonlinear control scheme, feedback linearization, fails. A single control law producing the force on the cart using cart velocity, and position and velocity of the pendulum is developed and shown, by numerical experiments, to asymptotically stabilize the pendulum at the top position while bringing the cart to its origin, although no attemp is made for a proof of global stability.

Stable Control Strategy for Planar Three-Link Underactuated Mechanical System

2016 ◽  
Vol 21 (3) ◽  
pp. 1345-1356 ◽  
Author(s):  
Xuzhi Lai ◽  
Yawu Wang ◽  
Min Wu ◽  
Weihua Cao
Keyword(s):  
Mechanical System ◽  
Control Strategy ◽  
Underactuated Mechanical System ◽  
Stable Control
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