A Novel LMI Computed-Torque Technique for Stabilization of Underactuated Systems

Resumen: A novel computed-torque technique for stabilization of a class of underactuated robot manipulators is proposed in this paper. Instead of obtaining the equivalent of a linear error system by model inversion as usually done when all the actuators are available, it is shown that these plants are amenable to a nonlinear form of the error system by only employing the available torques. The resulting nonlinear system can thus be exactly rewritten as a polytope, based on which a control law can be designed in the form of parallel distributed compensation via linear matrix inequalities. The whole scheme has been successfully applied both in simulation and real-time implementation to an inverted pendulum on a cart.

¿Cómo citar?

Jesus Alonso Diaz & Miguel Bernal. A Novel LMI Computed-Torque Technique for Stabilization of Underactuated Systems. Memorias del Congreso Nacional de Control Automático, pp. 797-802, 2019.

Palabras clave

Control de Sistemas No Lineales, Robótica y Mecatrónica, Control Inteligente

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