A Constructive Procedure for Orbital Stabilization of a Class of Underactuated Mechanical Systems

被引：7

作者：

Romero, Jose Guadalupe ^{[1
]}

Gandarilla, Isaac ^{[2
]}

Santibanez, Victor ^{[2
]}

Yi, Bowen ^{[3
]}

机构：

[1] ITAM, Dept Acad Sistemas Digitales, Mexico City 01080, DF, Mexico

[2] Tecnol Nacl Mexico, Inst Tecnol La Laguna, Mexico City 27001, DF, Mexico

[3] Univ Sydney, Australian Ctr Field Robot, Sydney, NSW 2006, Australia

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2022年 / 30卷 / 06期

关键词：

Orbits; Mechanical systems; Transmission line matrix methods; Gold; Vehicle dynamics; Oscillators; Regulation; Immersion and invariance; mechanical systems; orbital stabilization; VIRTUAL-HOLONOMIC-CONSTRAINTS; PASSIVITY-BASED CONTROL; ENERGY;

D O I：

10.1109/TCST.2022.3147336

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 note, we present a constructive procedure to solve the orbital stabilization problem of a class of nonlinear underactuated mechanical systems with n degrees of freedom and underactuation degree one using the Immersion and Invariance technique. We define sufficient conditions to solve explicitly the partial differential equations arising in the Immersion and Invariance methodology, so that mechanical systems with gyroscopic terms can be considered. At the end, we use two practical systems as examples to illustrate the design procedure, as well as validating performance via simulations and experiments.

引用

页码：2698 / 2706

页数：9

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