Interconnection and Damping Assignment Passivity—Based Control of the Pendubot

IFAC Proceedings Volumes - Tập 41 - Trang 7700-7704 - 2008
Jesús Sandoval1, Romeo Ortega2, Rafael Kelly3
1Departamento Metal-Mecánica, Instituto Tecnológico de La Paz, Blvd. Forjadores de B.C.S. No. 4720, La Paz, B.C.S., 23080, MEXICO
2Laboratoire des Signaux et Systèmes, CNRS-SUPELEC, Gif-sur-Yvette, 91192, France
3División de Física Aplicada, CICESE, Carretera Tijuana—Ensenada km. 107, Ensenada, B. C., 22800, MEXICO Fax: + 52 (646) 175 05 54

Tài liệu tham khảo

Acosta, 2005, Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one, IEEE Transactions on Automatic Control, 50, 10.1109/TAC.2005.860292 Ortega, 2002, Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment, IEEE Transactions on Automatic Control, 47, 1213, 10.1109/TAC.2002.800770 M. W. Spong and D. Block. The Pendubot: A mechatronic system for control research and education. 34th IEEE Conf. Decision and Control, pp. 555-557, New Orleans, LA, December 1995 M. Wang-Sheng and L. Juang-Shan. Backstepping control design of underactuated systems: A pendubot case study. Proceedings of 2006 Automatic Control Conference, St. John's University, Tamsui, Taiwan, November 10–11, 2006.