http://iet.metastore.ingenta.com
1887

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system

For access to this article, please select a purchase option:

Buy chapter PDF
£10.00
(plus tax if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Underactuated mechanical systems [13,14,27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.

Chapter Contents:

  • 8.1 Introduction
  • 8.2 Dynamic modeling of underactuated mechanical systems: Lagrangian formalism
  • 8.3 Control problem formulation
  • 8.4 Preliminaries
  • 8.4.1 Notions of finite stability
  • 8.5 Proposed control design
  • Theorem 8.2
  • 8.6 Numerical simulations: the case of the cart-pole system
  • 8.7 Conclusion
  • References

Inspec keywords: uncertain systems; pole assignment; stability

Other keywords: finite-time stabilization; underactuated mechanical systems; unactuated generalized coordinates; dynamic coupling; cart-pole system; nonintegrable dynamic constraints

Subjects: Stability in control theory; Control system analysis and synthesis methods

Preview this chapter:
Zoom in
Zoomout

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system, Page 1 of 2

| /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch8-1.gif /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch8-2.gif

Related content

content/books/10.1049/pbce111e_ch8
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address