제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
- /
- Pages.77-80
- /
- 1996
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)
- 발행 : 1996.10.01
초록
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.
키워드