New coordinate independent integrability conditions for second order nonholonomic systems, and hybrid control theorem for feedback stabilization of second order nonholonomic systems have been applied for control of the Pendubot, a test bed for dynamics and control of nonlinear systems. Experimental results show that the hybrid control works very well and very robust.
Hybrid control for the pendubot / T. J., Tarn; M. J., Zhang; Celani, Fabio. - (2000), pp. 2070-2075. (Intervento presentato al convegno 26th Annual Conference of the IEEE-Industrial-Electronics-Society tenutosi a NAGOYA, JAPAN) [10.1109/iecon.2000.972595].
Hybrid control for the pendubot
CELANI, FABIO
2000
Abstract
New coordinate independent integrability conditions for second order nonholonomic systems, and hybrid control theorem for feedback stabilization of second order nonholonomic systems have been applied for control of the Pendubot, a test bed for dynamics and control of nonlinear systems. Experimental results show that the hybrid control works very well and very robust.| File | Dimensione | Formato | |
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