Control of a class of underactuated mechanical systems obviating matching conditions

被引：12
|
作者：
Mehra, Rachit [1 ]
Satpute, Sumeet G. [1 ]
Kazi, Faruk [2 ]
Singh, N. M. [1 ]
机构：
[1] VJTI, Dept Elect Engn, Mumbai, Maharashtra, India
[2] VJTI, Dept Elect Engn, Elect Engn, Mumbai, Maharashtra, India
来源：
AUTOMATICA | 2017年 / 86卷
关键词：
Nonlinear control systems; Stability analysis; Mechanical systems; Energy shaping; CONTROLLED LAGRANGIANS; DAMPING ASSIGNMENT; STABILIZATION; ENERGY; INTERCONNECTION;
D O I：
10.1016/j.automatica.2017.07.033
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The presently established techniques for control of underactuated mechanical systems are dependent on solving partial differential equations (PDEs) arising out of matching conditions. In this brief a novel controller design methodology for (asymptotic) stabilization of nonlinear systems is proposed that obviates the need of solving PDEs to obtain the control laws. The geometry based energy shaping methodology forms the fully constructive procedure for control of underactuated mechanical systems. The control methodology is based on manipulating symmetric structure of the system such that the power flow is established between the controller and unactuated part of the system. The modifications leads to identification of the two new passive outputs which are further utilized for kinetic and potential shaping and the desired controller is obtained.using passivity based techniques. The theory is illustrated with two benchmark examples. (C) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：98 / 103
页数：6
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