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Nonlinear Control Nonlinear Control of Underactuated Horizontal Double Pendulum.

Автор:   Cristian P.
мягкая обложка
132 страниц
2009 год
Издательство:   Книга по Требованию
1994 руб
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Описание:Two different types of such systems are analyzed: spring coupled underactuated horizontal double pendulums and underactuated horizontal double pendulums with spring-loaded sliding bar constraint. The double inverted pendulum is a particular underactuated system and a well-known benchmark case for which many solutions have been offered in the literature. The main contribution of this work is in proving that the zero state of the spring coupled systems is globally asymptotically stabilizable. Underactuated systems are those possessing fewer actuators than degrees of freedom. Explicit control laws were developed. The underactuated horizontal double pendulum is a two-link planar robot with only one actuator either at the shoulder or the elbow. The fundamental difference between a double inverted pendulum and an underactuated horizontal double pendulum is that in the latter gravity effects do not exist. Therefore, we added springs in the underactuated horizontal double pendulum in order to create a source of potential energy. The control objective is to bring the system to its unstable top equilibrium point. Gravity is important to the controllability of the system.

Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка

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