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Existence and design of a strongly stabilizing controller for the Pendubot

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2 Author(s)
Xin Xin ; Fac. of Comput. Sci. & Syst. Eng., Okayama Prefectural Univ., Okayama, Japan ; Juuri, K.

This paper concerns the strong stabilization for a typical example of underactuated robots called the Pendubot, which is two-link underactuated planar robot with a single actuator at the first joint. This paper shows the existence and design method of strongly stabilizing controllers for the upright equilibrium point of the Pendubot by designing a specific output and employing the pole-zero relation of the linearized model around the equilibrium point. Simulation results are presented to validate the theoretical results.

Published in:

SICE Annual Conference (SICE), 2012 Proceedings of

Date of Conference:

20-23 Aug. 2012