Nonlinear control of a novel two-link pendulum

Laszlo Techy, C. Konda Reddy, Craig A. Woolsey, Chengyu Cao, Naira Hovakimyan

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


This paper describes nonlinear control of a two degree of freedom mechanical system which models a bird perched on a branch or cable. The primary contribution is the implementation, in a controlled laboratory experiment, of the recently developed ℒ1 adaptive control approach. This technique, which allows fast adaptation with guaranteed stability margins, has been proposed for use in a variety of more sophisticated applications. Experimental results for this simple mechanical control system provide further motivation to pursue those applications. The system being considered is a variation of Spong's "Acrobot", a classic example of an underactuated mechanical control system. In addition to the ℒ1 controller, a swing-up controller based on Spong's original work on collocated partial feedback linearization is implemented with switching logic.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Externally publishedYes
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

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


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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