| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 725311 | Journal of Applied Research and Technology | 2014 | 5 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Weiping Guo, Diantong Liu,