MATEC Web Conf.
Volume 286, 201914th Congress of Mechanics (CMM2019)
|Number of page(s)||3|
|Section||Solid and Structural Mechanics Modelling|
|Published online||14 August 2019|
Modeling and simulation of an underactuated system
ENSA-Tanger, BP 1818 Tanger, Maroc 00 212 694833778
One of the most active research areas in mechatronic systems is the control of mechanical systems controlled by electronic systems using computer programs. These programs execute algorithms called control laws.
Our study focuses on the control of underactuated mechanical systems: Case of a reversed two-wheeled pendulum. It consists of developing a control law to stabilize this system. This class of system is rich in practical as well as theoretical applications (SEGWAY, Acrobot robots ...) and this is why the control synthesis for underactuated mechanical systems constitutes a very active research axis and still constitues an open domain for technological research.
Key words: Mechatronics / Underactuated / Nonlinear / Modeling / Simulation
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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