Nonlinear Control Strategies for a Pendubot System
Oscar J. Suarez (Unipamplona, CO)
Aldo Pardo Garcia (Unipamplona, CO)
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Nonlinear Control Strategies for a Pendubot System | ||
| Published in: | Prospective and trends in technology and skills for sustainable social development. Leveraging emerging technologies to construct the future: Proceedings of the 19th LACCEI International Multi-Conference for Engineering, Education and Technology | |
| Date of Conference: | July 19-23, 2021 | |
| Location of Conference: | Virtual | |
| Authors: | Juan Carlos Bello-Robles (CINVESTAV-IPN Unidad Guadalajara, MX) Oscar J. Suarez (Unipamplona, CO) Aldo Pardo Garcia (Unipamplona, CO) | |
| Full Paper: | #590 | |
Abstract:The Pendubot is an underactuated robot with two links used for research in non-linear control and for education to teach some concepts as non-linear dynamics, robotics and non-linear control strategies. This paper presents simulation results for trajectory tracking using Takagi-Sugeno Controller for a Pendubot System. The proposed controller is used to track the response of angle q2. To examine the robustness of the proposed controller, simulations using Matlab/Simulink prove the validity of this control method. | ||