报告题目：Stabilization of the Pendubot via the Polynomial Matrix Approach（倒立摆镇定的多项式矩阵方法）
主讲人👎🏻：希腊科学家Antonis Ioannis Vardulakis 教授
报告时间🌆： 2018年11月14日（周三）上午10：30
报告地点：杏运新大楼1026http://eu.wiley.com/WileyCDA/WileyTitle/productCd-0471928593.html)
And of Introduction to Mathematical Theory of Signals, Systems and Control, Volumes 1 & 2 (in Greek)
https://service.eudoxus.gr/search/#a/id:18548653/0
Abstract
This seminar concerns the stabilization problem for an underactuated robot called the “Pendubot”, which is a two-link planar robot with just a single actuator at the shoulder. Relying on a computational algorithm which is based on various results of “the polynomial matrix approach” we propose an outputfeedback-based internally stabilizing controller to stabilize the Pendubot at the unstable vertical upright position. The algorithm utilizes results for the solution of polynomial matrix Diophantine equations required for the computation and parameterization of proper “denominator assigning” and internally stabilizing controllers for linear time invariant multivariable (LTI) systems and reduces the problem to that of the solution of a set of numerical linear equations. The controller presented makes use of only the measured output which consists of the angles of the two links and does not require knowledge of the angular velocities which are usually not directly measurable. Finally, some simulation and experimental results are provided to demonstrate the validity and feasibility of the proposed method.
Index Terms—Stabilizing control, polynomial matrix approach, output feedback, Pendubot, underactuated mechanical systems.