Title: Non-linear control of under-actuated mechanical systems

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.

DOI: 10.1504/IJMIC.2009.023528

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.1, pp.32 - 39

Available online: 26 Feb 2009 *

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