| Revista: | Journal of applied research and technology |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000384273 |
| ISSN: | 1665-6423 |
| Autors: | Guo, Weiping1 Liu, Diantong1 |
| Institucions: | 1Yantai University, School of Computer and Control Engineering, Yantai, Shandong. China |
| Any: | 2014 |
| Període: | Jun |
| Volum: | 12 |
| Número: | 3 |
| Paginació: | 602-606 |
| País: | México |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental, aplicado |
| Resumen en inglés | The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursive technology. The system stability is proved with Lyapunov theory. The simulation results show the system is globally asymptotically stable to the origin |
| Disciplines | Ingeniería |
| Paraules clau: | Ingeniería de control, Ingeniería mecánica, Sistemas mecánicos subactuados, Diseño recursivo, Control no lineal |
| Keyword: | Engineering, Control engineering, Mechanical engineering, Underactuated mechanical systems, Recursive design, Nonlinear control |
| Text complet: | Texto completo (Ver HTML) |
