Modelling and control of a underactuated sphere and beam system
Abstract
The article presents the modelling of a sphere and beam system by using the II type of Lagrange's equation. An adaptive control system synthesis was carried out according to Lapunov's stability theory. The solution acquired was simulated in Matlab/Simulink programme environments and verified in reality.
- Publication:
-
Communications in Nonlinear Science and Numerical Simulations
- Pub Date:
- May 2011
- DOI:
- Bibcode:
- 2011CNSNS..16.2350B
