Nonlinear Control of Underactuated Systems using a 3-D Virtual Laboratory

Naranjo-Pérez, F. and Matta Gómez, Antonio Alejandro and Acosta, J. C. and Colorado Montaño, Julián (2007). Nonlinear Control of Underactuated Systems using a 3-D Virtual Laboratory. In: "3rd Colombian Workshop On Robotics, Automation, and Control", 2007, Cartagena de Indias, Colombia. ISBN 978-958-97865-8-1. pp. 15-22.

Description

Title: Nonlinear Control of Underactuated Systems using a 3-D Virtual Laboratory
Author/s:
  • Naranjo-Pérez, F.
  • Matta Gómez, Antonio Alejandro
  • Acosta, J. C.
  • Colorado Montaño, Julián
Item Type: Presentation at Congress or Conference (Article)
Event Title: 3rd Colombian Workshop On Robotics, Automation, and Control
Event Dates: 2007
Event Location: Cartagena de Indias, Colombia
Title of Book: Proceedings of The 3rd Colombian Workshop on Robotics, Automation, and Control
Date: 2007
ISBN: 978-958-97865-8-1
Subjects:
Freetext Keywords: Underactuated Systems, Feedback linearization, Swing-up control, Virtual Environments and Computer Graphics.
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Control of underactuated mechanical systems is currently one of the most active fields in research due to the diverse applications of these systems in real-life. The aim of this article is focused on the application of nonlinear control techniques for underactuated systems and the virtual simulation of their dynamics behavior. The main contribution of this research is related with the applications of balancing controllers designed with linearization techniques, and including swing-up control using energy based methods for two of the most typical underactuated systems used for testing nonlinear control: The cart-pole and the rotating pendulum systems. The second contribution relies in the development of a virtual laboratory for testing this algorithms and also with a great feature included; the platform is not tied to specific embedded controllers, the users can proof their own control techniques, adding control equations using a graphical user interface developed for that purpose. Finally, the analytical results will be validated via numerical solutions implemented on Matlab-Simulink toolbox, comparing the controllers and the simulation capabilities through several test cases.

More information

Item ID: 46852
DC Identifier: http://oa.upm.es/46852/
OAI Identifier: oai:oa.upm.es:46852
Deposited by: Memoria Investigacion
Deposited on: 19 Jun 2017 16:17
Last Modified: 19 Jun 2017 16:17
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