Non-linear control of under-actuated mechanical systems
by Akira Inoue, Mingcong Deng
International Journal of Modelling, Identification and Control (IJMIC), Vol. 6, No. 1, 2009

Abstract: In this paper, non-linear controls of three kinds of under-actuated mechanical systems are summarised. The systems are: inverted pendulum systems, Acrobot system and helicopter experimental system. In particular, concerning the inverted pendulum system, a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum are introduced. For the systems, different controller design schemes are considered. Experimental results on the systems are also shown.

Online publication date: Thu, 26-Feb-2009

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