Dynamic Singularities in Nonlinear Control of Underactuated Pendulum-like Models

被引：0
|
作者：
Lukomski, Adam Wojciech [1 ]
机构：
[1] West Pomeranian Univ Technol, Dept Control & Measurements, PL-70310 Szczecin, Poland
来源：
2014 19TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. The dynamic singularities are caused by the decoupling matrix being singular for particular configurations. The examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.
引用
收藏
页码：389 / 394
页数：6
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