TY - JOUR
T1 - Unified control for Pendubot at four equilibrium points
AU - Wang, Z.
AU - Guo, Y.
PY - 2011/1/6
Y1 - 2011/1/6
N2 - The authors consider the control of an underactuated mechanical system: Pendubot, which has four separated equilibrium points. A unified controller is proposed to stabilise the system at the four equilibrium points. Moreover, the proposed unified control can bring the underactuated link to ideal homoclinic orbits, which cannot be achieved by existing approaches. Simulation results verify the effectiveness of the proposed control.
AB - The authors consider the control of an underactuated mechanical system: Pendubot, which has four separated equilibrium points. A unified controller is proposed to stabilise the system at the four equilibrium points. Moreover, the proposed unified control can bring the underactuated link to ideal homoclinic orbits, which cannot be achieved by existing approaches. Simulation results verify the effectiveness of the proposed control.
UR - http://www.scopus.com/inward/record.url?scp=79551707444&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79551707444&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2009.0405
DO - 10.1049/iet-cta.2009.0405
M3 - Article
AN - SCOPUS:79551707444
SN - 1751-8644
VL - 5
SP - 155
EP - 163
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
IS - 1
ER -