Simple control scheme for a class of underactuated mechanical system with tree structure

This paper investigates a new and simple control design for underatuated mechanical system with control diagram flow in tree structure. In such systems, the control input is related to more than one degree of freedom simultaneously. The idea is to include in the control law expression terms that act...

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Bibliographic Details
Published in2015 3rd International Conference on Control, Engineering & Information Technology (CEIT) pp. 1 - 5
Main Authors Choukchou-Braham, Amal, Cherki, Brahim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2015
Subjects
Acceleration
Backstepping
CFD
Computational fluid dynamics
Control design
inverted pendulum
Mechanical systems
simultaneous control
stability
Systematics
tree structure
Underactuated system
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Summary:This paper investigates a new and simple control design for underatuated mechanical system with control diagram flow in tree structure. In such systems, the control input is related to more than one degree of freedom simultaneously. The idea is to include in the control law expression terms that act on theses variables at the same time. The procedure is applied to the stabilization of the popular inverted pendulum and its efficiency is showed through numerical simulations.
DOI:10.1109/CEIT.2015.7233142