Nonlinear Recursive Design for the Underactuated IWP System

Main Article Content

Weiping Guo
Diantong Liu

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.

 

PLUM ANALYTICS

Article Details

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