Authors: Akira Inoue, Mingcong Deng
Addresses: Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan. ' Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan
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.
Keywords: inverted pendulum; Acrobot; helicopter control; robot control; under-actuated systems; mechanical systems; nonlinear control.
International Journal of Modelling, Identification and Control, 2009 Vol.6 No.1, pp.32 - 39
Available online: 26 Feb 2009Full-text access for editors Access for subscribers Purchase this article Comment on this article