Nonlinear Recursive Design for the Underactuated IWP System
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| Format: | Artículo científico |
| Language: | en |
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Universidad Nacional Autónoma de México
2014
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| _version_ | 1876465333572730880 |
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| author | Weiping Guo |
| author_facet | Weiping Guo |
| contents | Nonlinear Recursive Design for the Underactuated IWP System Weiping Guo Diantong Liu Ingeniería IWP recursive design nonlinear control Underactuated mechanical system 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 th eory. The simulation results show the system is globally asymptotically stable to the origin. 2014 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47431368024 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.12 |
| format | Artículo científico |
| id | redalyc_47431368024 |
| institution | Redalyc |
| language | en |
| publishDate | 2014 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Nonlinear Recursive Design for the Underactuated IWP System Weiping Guo Ingeniería IWP recursive design nonlinear control Underactuated mechanical system Nonlinear Recursive Design for the Underactuated IWP System Weiping Guo Diantong Liu Ingeniería IWP recursive design nonlinear control Underactuated mechanical system 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 th eory. The simulation results show the system is globally asymptotically stable to the origin. 2014 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47431368024 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.12 |
| title | Nonlinear Recursive Design for the Underactuated IWP System |
| topic | Ingeniería IWP recursive design nonlinear control Underactuated mechanical system |
| url | https://www.redalyc.org/articulo.oa?id=47431368024 |