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Diantong Liu ;Journal of Applied Research and Technology 2014, 12 (3)

Autor: Weiping Guo

Fuente: http://www.redalyc.org/


Introducción



Journal of Applied Research and Technology ISSN: 1665-6423 jart@aleph.cinstrum.unam.mx Centro de Ciencias Aplicadas y Desarrollo Tecnológico México Guo, Weiping; Liu, Diantong Nonlinear Recursive Design for the Underactuated IWP System Journal of Applied Research and Technology, vol.
12, núm.
3, junio-, 2014, pp.
602-606 Centro de Ciencias Aplicadas y Desarrollo Tecnológico Distrito Federal, México Available in: http:--www.redalyc.org-articulo.oa?id=47431368024 How to cite Complete issue More information about this article Journals homepage in redalyc.org Scientific Information System Network of Scientific Journals from Latin America, the Caribbean, Spain and Portugal Non-profit academic project, developed under the open access initiative   Nonlinear Recursive Design for the Underactuated IWP System Weiping Guo and Diantong Liu* School of Computer and Control Engineering, Yantai University Yantai City, People’s Republic of China *diantong.liu@163.com ABSTRACT The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedback linearization and a global change of coordinates.
A nonlinear controller is designed with the nonlinear recursive technology.
The system stability is proved with Lyapunov theory.
The simulation results show the system is globally asymptotically stable to the origin. Keywords: Underactuated mechanical system, IWP, recursive design, nonlinear control.   1.
Introduction Many researchers focus on the inertia wheel pendulum (IWP) to look it as a test bed for the effectiveness of control algorithms [1-5].
There are two control problems in this system: one is to control the pendulum swinging up from the hanging position to the upright vertical position; the other is to stabilize the IWP around its unstable equilibrium point.
Much remarkable work is done: a control energy approach based on the passivity [1] is used to solve the balance problem of the IWP. The interconnection and damping assi...





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