Nonlinear Control of Underactuated Horizontal Double Pendulum

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" Nonlinear Control of Underactuated Horizontal Double Pendulum "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	151275
Doc. No	:	ET23067
Main Entry	:	Cristian Popescu
Title Proper	:	Nonlinear Control of Underactuated Horizontal Double Pendulum
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Underactuated mechanical systems are those possessing fewer actuators thandegrees of freedom, making the class a rich one from a control standpoint.The double inverted pendulum is a particular underactuated system and a well-known benchmark case for which many solutions have been offered in the literature. Thecontrol objective is to bring the system to its unstabIe top equilibrium point.The underactuated horizontal double pendulum is a two-link planar robot withonly one actuator either at the shoulder or the elbow. Alrnost no work was done on theunderactuated horizontal pendulum, mainly due to the lack of controllability of such asystem.The fundamental difference between a double inverted pendulum and anunderactuated horizontal double pendulum is that in the latter gravity effects do not exist.Gravity is important to the controllability of the system.Thus, in search for a "gravity substitute," we added springs in the underactuatedhorizontal double pendulum in order to create a source of potential energy. Two differenttypes of such systems are analyzed: spring coupled underactuated horizontal doublependulums and underactuated horizontal double pendulums with spring-loaded slidingbar constraint.The main contribution of the thesis is in proving that the zero state of the springcoupled systems is globally asymptoticdly stabilizable. Explicit control laws weredeveloped..-....,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL46301.pdf
Title and statement of responsibility and	:	Nonlinear Control of Underactuated Horizontal Double Pendulum [Thesis]