Control of a class of underactuated mechanical systems

被引：8
|
作者：
Narikiyo, Tatsuo [1 ]
Sahashi, Junichiro [2 ]
Misao, Kazutomo [1 ]
机构：
[1] Toyota Technol Inst, Dept Adv Sci & Technol, Nagoya, Aichi 4688511, Japan
[2] Toyota Motor Co Ltd, Tech Adm Div, Toyota 4718572, Japan
来源：
NONLINEAR ANALYSIS-HYBRID SYSTEMS | 2008年 / 2卷 / 02期
基金：
美国国家科学基金会;
关键词：
Underactuated mechanical systems; Decoupling vector fields; Passive velocity field control;
D O I：
10.1016/j.nahs.2006.04.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a new control methodology for underactuated mechanical systems is proposed. The basic idea of this method is to combine passive velocity field control with decoupling vector field. In order that the underactuated mechanical systems can be stabilized at the desired position after settling on the desired velocity vector field, novel control strategies are proposed. Proposed control strategies are applied to the underactuated planar three-link manipulator and underactuated planar body. Simulations demonstrate the usefulness and effectiveness of the proposed control methodology. (c) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：231 / 241
页数：11
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