Strong structural controllability and the multilink inverted pendulum

Christopher Bowden; William Holderbaum; Victor M. Becerra

doi:10.1109/TAC.2012.2191180

Strong structural controllability and the multilink inverted pendulum

Christopher Bowden, William Holderbaum, Victor M. Becerra

Research output: Contribution to journal › Article › peer-review

Abstract

This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.

Original language	English
Pages (from-to)	2891-2896
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	57
Issue number	11
DOIs	https://doi.org/10.1109/TAC.2012.2191180
Publication status	Published - 1 Nov 2012

Keywords

Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability.

Access to Document

10.1109/TAC.2012.2191180

Cite this

@article{2771b33ee61a4c9b83945d80266d8873,

title = "Strong structural controllability and the multilink inverted pendulum",

abstract = "This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.",

keywords = "Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability.",

author = "Christopher Bowden and William Holderbaum and Becerra, {Victor M.}",

year = "2012",

month = nov,

day = "1",

doi = "10.1109/TAC.2012.2191180",

language = "English",

volume = "57",

pages = "2891--2896",

journal = "IEEE Transactions on Automatic Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "11",

}

TY - JOUR

T1 - Strong structural controllability and the multilink inverted pendulum

AU - Bowden, Christopher

AU - Holderbaum, William

AU - Becerra, Victor M.

PY - 2012/11/1

Y1 - 2012/11/1

N2 - This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.

AB - This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.

KW - Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability.

U2 - 10.1109/TAC.2012.2191180

DO - 10.1109/TAC.2012.2191180

M3 - Article

VL - 57

SP - 2891

EP - 2896

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 11

ER -

Strong structural controllability and the multilink inverted pendulum

Abstract

Keywords

Access to Document

Fingerprint

Cite this