Control of the underactuated mechanical systems using natural motion

Zdeněk Neusser; Michael Valášek

Kybernetika (2012)

  • Volume: 48, Issue: 2, page 223-241
  • ISSN: 0023-5954

Abstract

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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.

How to cite

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Neusser, Zdeněk, and Valášek, Michael. "Control of the underactuated mechanical systems using natural motion." Kybernetika 48.2 (2012): 223-241. <http://eudml.org/doc/246720>.

@article{Neusser2012,
abstract = {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.},
author = {Neusser, Zdeněk, Valášek, Michael},
journal = {Kybernetika},
keywords = {underactuated systems; nonlinear control; mechanical systems; nonlinear control; underactuated systems; mechanical systems},
language = {eng},
number = {2},
pages = {223-241},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Control of the underactuated mechanical systems using natural motion},
url = {http://eudml.org/doc/246720},
volume = {48},
year = {2012},
}

TY - JOUR
AU - Neusser, Zdeněk
AU - Valášek, Michael
TI - Control of the underactuated mechanical systems using natural motion
JO - Kybernetika
PY - 2012
PB - Institute of Information Theory and Automation AS CR
VL - 48
IS - 2
SP - 223
EP - 241
AB - 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.
LA - eng
KW - underactuated systems; nonlinear control; mechanical systems; nonlinear control; underactuated systems; mechanical systems
UR - http://eudml.org/doc/246720
ER -

References

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  1. N. P. I. Aneke, Control of Underactuated Mechanical Systems., Ph.D. Thesis. Technische Universiteit Eindhoven, Eindhoven 2002. 
  2. I. Fantoni, R. Lozano, Non-linear Control for Underactuated Mechanical Systems., Springer-Verlag, London 2002. 
  3. A. D. Mahindrakar, S. Rao, R. N. Banavar, 10.1016/j.mechmachtheory.2005.10.013, Mechanism and Machine Theory 41 (2006), 838-844. MR2244109DOI10.1016/j.mechmachtheory.2005.10.013
  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. 
  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. 
  6. P. Steinbauer, Nonlinear Control of the Nonlinear Mechanical Systems., Ph.D. Thesis. Czech Technical University in Prague, Prague 2002. (in Czech) 
  7. L. Udawatta, K. Watanabe, K. Izumi, K. Kuguchi, 10.1007/s00500-002-0257-8, Soft Computing 8 (2003), 51-60. DOI10.1007/s00500-002-0257-8
  8. M. Valášek, Control of elastic industrial robots by nonlinear dynamic compensation., Acta Polytechnica 33 (1993), 1, 15-30. 
  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. 
  10. M. Valášek, Exact input-output linearization of general multibody system by dynamic feedback., In: Multibody Dynamics 2005, Eccomas Conference, Madrid 2005. 
  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. 

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