Unified control for Pendubot at four equilibrium points

Z. Wang, Y. Guo

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)155-163
Number of pages9
JournalIET Control Theory and Applications
Volume5
Issue number1
DOIs
StatePublished - 6 Jan 2011

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