Stabilization of Benchmark Under-actuated Systems via Saturated Controls

• Published in: International journal of control, automation, and systems Vol. 20; no. 11; pp. 3524 - 3539
• Main Authors: Liu, Jun, Ye, Huawen, Qi, Xianting
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.11.2022; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuators; Benchmarks; Cart-pole problem; Control; Controllers; Cranes; Engineering; Magnetic bearings; Mechatronics; Pendulums; Perturbation; Regular Papers; Robotics; Saturation; Vertical takeoff aircraft; 제어계측공학; uncertain nonlinear systems; under-actuated system; stabilization; Saturated control

In this paper, we present controllers to stabilize benchmark under-actuated systems such as inertia wheel pendulum (IWP), cart-pole, cart-pendulum, overhead crane, VTOL aircraft, ball-and-beam, translational oscillations with a rotational actuator (TORA), and active magnetic bearing (AMB). The menti...