Control strategy based on iterative method for planar Pendubot
作者单位：School of AutomationChina University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation(NNSF)of China under Grant 61773353 the Hubei Provincial Natural Science Foundation of China under Grant 2015CFA010 the 111 project under Grant B17040
关 键 词：Planar Pendubot Position control Iterative method Nilpotent approximation
摘 要：This paper presents a position control strategy based on the iterative method for a planar *** control objective of the system is to move the end-point from any initial equilibrium point to a target equilibrium *** presented method is based on the iterative steering,where a converging control law is applied *** order to compute such a control law,the dynamic equations of the system are transformed via partial feedback linearization and nilpotent ***,the simulation results demonstrate that the position control objective is realized by using this control strategy.