Nonlinear Recursive Design for the Underactuated IWP System

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Published: Jun 1, 2014
DOI: https://doi.org/10.1016/S1665-6423(14)71639-6
Keywords:
Underactuated mechanical system, IWP, recursive design, nonlinear control

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Weiping Guo
School of Computer and Control Engineering, Yantai University
Diantong Liu
School of Computer and Control Engineering, Yantai University

Abstract

The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedbacklinearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursivetechnology. The system stability is proved with Lyapunov theory. The simulation results show the system is globallyasymptotically stable to the origin.

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How to Cite
Guo, W., & Liu, D. (2014). Nonlinear Recursive Design for the Underactuated IWP System. Journal of Applied Research and Technology, 12(3). https://doi.org/10.1016/S1665-6423(14)71639-6
Issue
Vol. 12 No. 3
Section
Articles