Dynamics and Stable Control for a Class of Underactuated Mechanical Systems

被引：0
|
作者：
LIU Dian-Tong GUO Wei-Ping YI Jian-Qiang (Institute of Computer Science and Technology
机构：
来源：
自动化学报 | 2006年 / 03期
关键词：
Underactuated systems; system dynamics; stable control; pendulum; overhead crane;
D O I：
10.16383/j.aas.2006.03.014
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
引用
收藏
页码：422 / 427
页数：6
相关论文
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  • [3] Mechanics of Vibrations. Liu Y Z,Chen W L,Chen L Q. . 1998
  • [4] Dynamics and control of a class of Underactuated mechanical systems. Reyhanoglu M,Schaft A,McClamroch N H,Kolmanovsky I. IEEE Transactions on Automatic Control . 1999
  • [5] An analysis of the kinematics and dynamics of Underactuated manipulators. Jain A,Rodriguez G. IEEE Transactions on Robotics and Automation . 1993
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