Strong stablizationof the non-linear Pendubot system

Abdul Wahid A. Saif

doi:10.1109/SSD.2015.7348185

Strong stablizationof the non-linear Pendubot system

Abdul Wahid A. Saif^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper concerns with the strong stabilization for a typical example of MIMO under-actuated robots called the Pendubot, which is a two-link under-actuated planar robot with a single actuator at the First joint. First, a study of the existing of blocking zeros is presented to check for strong stabilization condition. Then the paper presents a design method for observer-based dynamic strongly stabilizing controller for the upright equilibrium point of the Pendubot. Simulation results are presented to validate the theoretical results.

Original language	English
Title of host publication	12th International Multi-Conference on Systems, Signals and Devices, SSD 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479917587
DOIs	https://doi.org/10.1109/SSD.2015.7348185
State	Published - 4 Dec 2015

Publication series

Name	12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Nonlinear Systems
Pendubot
Strong stabilization
stable controller
under-actuated Systems

ASJC Scopus subject areas

Signal Processing
Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/SSD.2015.7348185

Cite this

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title = "Strong stablizationof the non-linear Pendubot system",

abstract = "This paper concerns with the strong stabilization for a typical example of MIMO under-actuated robots called the Pendubot, which is a two-link under-actuated planar robot with a single actuator at the First joint. First, a study of the existing of blocking zeros is presented to check for strong stabilization condition. Then the paper presents a design method for observer-based dynamic strongly stabilizing controller for the upright equilibrium point of the Pendubot. Simulation results are presented to validate the theoretical results.",

keywords = "Nonlinear Systems, Pendubot, Strong stabilization, stable controller, under-actuated Systems",

author = "Saif, \{Abdul Wahid A.\}",

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year = "2015",

month = dec,

day = "4",

doi = "10.1109/SSD.2015.7348185",

language = "English",

series = "12th International Multi-Conference on Systems, Signals and Devices, SSD 2015",

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Strong stablizationof the non-linear Pendubot system. / Saif, Abdul Wahid A.
12th International Multi-Conference on Systems, Signals and Devices, SSD 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7348185 (12th International Multi-Conference on Systems, Signals and Devices, SSD 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Strong stablizationof the non-linear Pendubot system

AU - Saif, Abdul Wahid A.

PY - 2015/12/4

Y1 - 2015/12/4

N2 - This paper concerns with the strong stabilization for a typical example of MIMO under-actuated robots called the Pendubot, which is a two-link under-actuated planar robot with a single actuator at the First joint. First, a study of the existing of blocking zeros is presented to check for strong stabilization condition. Then the paper presents a design method for observer-based dynamic strongly stabilizing controller for the upright equilibrium point of the Pendubot. Simulation results are presented to validate the theoretical results.

AB - This paper concerns with the strong stabilization for a typical example of MIMO under-actuated robots called the Pendubot, which is a two-link under-actuated planar robot with a single actuator at the First joint. First, a study of the existing of blocking zeros is presented to check for strong stabilization condition. Then the paper presents a design method for observer-based dynamic strongly stabilizing controller for the upright equilibrium point of the Pendubot. Simulation results are presented to validate the theoretical results.

KW - Nonlinear Systems

KW - Pendubot

KW - Strong stabilization

KW - stable controller

KW - under-actuated Systems

UR - https://www.scopus.com/pages/publications/84962709793

U2 - 10.1109/SSD.2015.7348185

DO - 10.1109/SSD.2015.7348185

M3 - Conference contribution

AN - SCOPUS:84962709793

T3 - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

BT - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Strong stablizationof the non-linear Pendubot system

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this