Nonlinear control of underactuated mechanical systems via feedback linearization and energy based Lyapunov function

  • Hong, Keum-Shik (Department of Control and Mechanical Engineering, Pusan National University) ;
  • Sohn, Sung-Chul (Graduate College, Pusan National University) ;
  • Yang, Kyung-Jin (Department of Control and Mechanical Engineering, Pusan National University)
  • Published : 1996.10.01

Abstract

In this paper a nonlinear control strategy via feedback linearization and energy based Lyapunov function for underactuated mechanical systems is investigated. Underactuated mechanical system is a system of which the number of actuators is less than the number of degrees of freedom. Developed algorithm is applied to a crane system of grab operation. Positioning of the trolley as well as swing-up of the pendulum to the up-right position including maintaining the sway angle at some desired degree are demonstrated. Simulations are provided.

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