TY - GEN
T1 - Nonlinear control of a novel two-link pendulum
AU - Techy, Laszlo
AU - Reddy, C. Konda
AU - Woolsey, Craig A.
AU - Cao, Chengyu
AU - Hovakimyan, Naira
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1109/ACC.2007.4282946
DO - 10.1109/ACC.2007.4282946
M3 - Conference contribution
AN - SCOPUS:46449113327
SN - 1424409888
SN - 9781424409884
T3 - Proceedings of the American Control Conference
SP - 19
EP - 24
BT - Proceedings of the 2007 American Control Conference, ACC
T2 - 2007 American Control Conference, ACC
Y2 - 9 July 2007 through 13 July 2007
ER -