C307 Approximate Linearization Control of 2-DOF Underactuated-by-1 Systems Using Higher Order Linearization Coordinate

Abstract

This paper deals with an approximate linearization control of 2-DOF underactuated-by-1 systems, which uses specifically computed linearization coordinate so that the approximation error remains small. The coordinate is derived in systematic way by solving a first order linear partial differential equation. The resulting coordinate is infinite series of the joint position and highly nonlinear. The proposed control is verified in experiments for the rotational inverted pendulum. The linearization coordinates are drived also for mobile inverted pendulum, Acrobot, and for Pendubot.