The authors consider the control of an underactuated mechanical system: Pendubot, which has four separated equilibrium points. A unified controller is proposed to stabilise the system at the four equilibrium points. Moreover, the proposed unified control can bring the underactuated link to ideal homoclinic orbits, which cannot be achieved by existing approaches. Simulation results verify the effectiveness of the proposed control.
Inspec keywords: stability; actuators; robots; linear quadratic control; nonlinear control systems; motion control; control system synthesis
Other keywords:
Subjects: Nonlinear control systems; Optimal control; Robotics; Stability in control theory; Control system analysis and synthesis methods; Spatial variables control
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