| Title:
|
Control of the underactuated mechanical systems using natural motion (English) |
| Author:
|
Neusser, Zdeněk |
| Author:
|
Valášek, Michael |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
48 |
| Issue:
|
2 |
| Year:
|
2012 |
| Pages:
|
223-241 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
The paper deals with the control of underactuated mechanical systems between equilibrium positions across the singular positions. The considered mechanical systems are in the gravity field. The goal is to find feasible trajectory connecting the equilibrium positions that can be the basis of the system control. Such trajectory can be stabilized around both equilibrium positions and due to the gravity forces the mechanical system overcomes the singular positions. This altogether constitutes the control between the equilibrium positions. The procedure is demonstrated on the different inverse pendulum mechanisms. (English) |
| Keyword:
|
underactuated systems |
| Keyword:
|
nonlinear control |
| Keyword:
|
mechanical systems |
| MSC:
|
70E55 |
| MSC:
|
93B60 |
| MSC:
|
93C10 |
| idMR:
|
MR2954322 |
| . |
| Date available:
|
2012-05-15T16:11:49Z |
| Last updated:
|
2013-09-22 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/142810 |
| . |
| Reference:
|
[1] N. P. I. Aneke: Control of Underactuated Mechanical Systems..Ph.D. Thesis. Technische Universiteit Eindhoven, Eindhoven 2002. |
| Reference:
|
[2] I. Fantoni, R. Lozano: Non-linear Control for Underactuated Mechanical Systems..Springer-Verlag, London 2002. |
| Reference:
|
[3] A. D. Mahindrakar, S. Rao, R. N. Banavar: A Point-to-point control of a 2R planar horizontal underactuated manipulator..Mechanism and Machine Theory 41 (2006), 838-844. MR 2244109, 10.1016/j.mechmachtheory.2005.10.013 |
| Reference:
|
[4] R. Olfati-Saber: Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles..Ph.D. Thesis. Massachusetts Institute of Technology, Boston 2001. |
| Reference:
|
[5] J. Rubí, Á. Rubio, A. Avello: Swing-up control problem for a self-erecting double inverted pendulum..IEE Proc. - Control Theory App. 149 (2002), 2, 169-175. |
| Reference:
|
[6] P. Steinbauer: Nonlinear Control of the Nonlinear Mechanical Systems..Ph.D. Thesis. Czech Technical University in Prague, Prague 2002. (in Czech) |
| Reference:
|
[7] L. Udawatta, K. Watanabe, K. Izumi, K. Kuguchi: Control of underactuated robot manipulators using switching computed torque method: GA based approach..Soft Computing 8 (2003), 51-60. 10.1007/s00500-002-0257-8 |
| Reference:
|
[8] M. Valášek: Control of elastic industrial robots by nonlinear dynamic compensation..Acta Polytechnica 33 (1993), 1, 15-30. |
| Reference:
|
[9] M. Valášek: Design and control of under-actuated and over-actuated mechanical systems - Challenges of mechanics and mechatronics..Supplement to Vehicle System Dynamics 40 (2004), 37-50. |
| Reference:
|
[10] M. Valášek: Exact input-output linearization of general multibody system by dynamic feedback..In: Multibody Dynamics 2005, Eccomas Conference, Madrid 2005. |
| Reference:
|
[11] M. Valášek, P. Steinbauer: Nonlinear control of multibody systems..In: Euromech Colloquium 404, Advances in Computational Multibody Dynamics, Lisboa: Instituto Suparior Technico Av. Rovisco Pais, 1999, 437-444. |
| . |
