Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation

Amanda Young, Chengyu Cao, Naira Hovakimyan, Eugene Lavretsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A new method is presented for control of nonaffine double pendulum system via dynamic inversion and time-scale separation. The control signal is defined as a solution of "fast" dynamics, and the coupled system is shown to be stable using the framework of Tikhonov's theorem from singular perturbations theory. Simulations illustrate the theoretical results.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Pages1820-1825
Number of pages6
StatePublished - Dec 1 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Young, A., Cao, C., Hovakimyan, N., & Lavretsky, E. (2006). Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation. In Proceedings of the 2006 American Control Conference (pp. 1820-1825). [1656484] (Proceedings of the American Control Conference; Vol. 2006).