Nonlinear feedforward and feedback tracking control with input constraints solving the pendubot swing-up problem

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 16, Issue , 2005, Pages 1112-1117

  Graichen, Knut ^a   Zeitz, Michael ^a  

^a UNIVERSITY OF STUTTGART   (Germany)

Author keywords

Boundary value problem; Internal dynamics; Non minimum phase; Nonlinear system inversion; Two degree of freedom control

Indexed keywords

BOUNDARY VALUE PROBLEMS; DEGREES OF FREEDOM (MECHANICS); NAVIGATION; NONLINEAR FEEDBACK; ROBOTS;

FEEDBACK TRACKING CONTROL; INPUT-OUTPUT NORMAL FORM; INTERNAL DYNAMICS; NOMINAL TRAJECTORY; NON-MINIMUM PHASE; TIME-VARIANT GAINS; TWO POINT BOUNDARY VALUE PROBLEMS; TWO-DEGREE-OF-FREEDOM CONTROL;

FEEDFORWARD CONTROL;

EID: 79960730927     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.00842     Document Type: Conference Paper

References (10)

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9. Spong, M. W. (1995). The swing up problem for the acrobot. IEEE Contr. Syst. Mag. 15, 49- 55.
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