| Journal: | Journal of applied research and technology |
| Database: | PERIÓDICA |
| System number: | 000384273 |
| ISSN: | 1665-6423 |
| Authors: | Guo, Weiping1 Liu, Diantong1 |
| Institutions: | 1Yantai University, School of Computer and Control Engineering, Yantai, Shandong. China |
| Year: | 2014 |
| Season: | Jun |
| Volumen: | 12 |
| Number: | 3 |
| Pages: | 602-606 |
| Country: | México |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental, aplicado |
| English abstract | 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 |
| Keyword: | 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 |
| Full text: | Texto completo (Ver HTML) |
