제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.77-80
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- 1996
Nonlinear control of underactuated mechanical systems via feedback linearization and energy based Lyapunov function
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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.
Keywords
- control theory;
- feedback linearization;
- underactuated system;
- robotics;
- Lyapunov function;
- crane system