Name
Abstract | ||
|---|---|---|
Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design, implement, and validate this control strategy in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/ACC.2008.4586692 | Seattle, WA |
Keywords | DocType | ISSN |
robots,robust control,matlab/simulink,decision making algorithm d,hybrid control algorithm,hybrid controller,open loop schedule,pendubot system,robust global stabilization,robust global swing-up,state feedback laws,swing-up task,algorithm design,logic,algorithm design and analysis,scheduling algorithm,hysteresis,control systems,real time systems,open loop systems | Conference | 0743-1619 E-ISBN : 978-1-4244-2079-7 |
ISBN | Citations | PageRank |
978-1-4244-2079-7 | 1 | 0.37 |
References | Authors | |
2 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| O'Flaherty, R.W. | 1 | 1 | 0.37 |
| Ricardo G. Sanfelice | 2 | 216 | 27.88 |
| andrew r teel | 3 | 566 | 71.55 |