Displaying similar documents to “Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case.”

Saturating stiffness control of robot manipulators with bounded inputs

María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares (2017)

International Journal of Applied Mathematics and Computer Science

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A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Global asymptotic stabilisation of an active mass damper for a flexible beam

Laura Menini, Antonio Tornambè, Luca Zaccarian (1999)

Kybernetika

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In this paper, a finite dimensional approximated model of a mechanical system constituted by a vertical heavy flexible beam with lumped masses placed along the beam and a mobile mass located at the tip, is proposed; such a model is parametric in the approximation order, so that a prescribed accuracy in the representation of the actual system can be easily obtained with the proposed model. The system itself can be understood as a simple representation of a building subject to transverse...

Modeling and control of induction motors

Emmanuel Delaleau, Jean-Paul Louis, Romeo Ortega (2001)

International Journal of Applied Mathematics and Computer Science

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This paper is devoted to the modeling and control of the induction motor. The well-established field oriented control is recalled and two recent control strategies are exposed, namely the passivity-based control and the flatness-based control.

Composite control of the n -link chained mechanical systems

Jiří Zikmund (2008)

Kybernetika

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In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n -link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents...