欠驱动三连杆摆反馈线性化的奇异性

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031382

A. W. Lukomski, T. Barcinski

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引用次数: 3

摘要

提出了三连杆欠驱动摆的全局反馈线性化问题。对解耦矩阵的奇异性进行了分析，并通过附加物理参数要求去除奇异性。给出了一类非线性无奇异反馈线性化控制系统的初步估计。

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Singularities in feedback linearisation of an underactuated 3-link pendulum

Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.

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2011 16th International Conference on Methods & Models in Automation & Robotics

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