Paper Info
Title
Controller Design For Mechanical Systems With Underactuation Degree One Based On Controlled Lagrangians Method
Abstract
This article extends controller design based on the controlled Lagrangians method from two to n degrees of freedom (DOF) mechanical systems with underactuation degree one. Importantly, a new kinetic energy equation (K-equation) is found from which the gyroscopic forces are separated due to the use of their property. Further, along with them chosen as an explicit solution, the other [image omitted] K-equations are satisfied for any regular controlled kinetic energy. As our main contribution, a sufficient matching condition is obtained which comprises the new K-equation and one P-equation (potential energy equation) cascaded, the regular condition and the explicit gyroscopic forces. Accordingly, the matching condition has an advantage for the fewest partial differential equations (PDEs) to be solved and the explicit gyroscopic forces. With all [image omitted] unknown functions of the controlled kinetic energy, the new K-equation can be simplified further under some choices on these functions and/or assumptions on specific original systems. Finally, taking the advantage, we obtain a nonlinear smooth state feedback control law that achieves local asymptotic stabilisation for a class of 3-DOF Pendubots in a vertical plane.
Year
DOI
Venue
2009
10.1080/00207170902748724
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
underactuated mechanical systems, controlled Lagrangians method, matching condition, gyroscopic forces, the Pendubot, stabilisation
Nonlinear control,Control theory,Potential energy,Exponential stability,Artificial intelligence,Underactuation,Pendulum,Partial differential equation,Mechanical system,Robotics,Mathematics
Journal
Volume
Issue
ISSN
82
9
0020-7179
Citations 
PageRank 
References 
0
0.34
8
Authors
2
Name
Order
Citations
PageRank
Maoqing Li1608.53
Wei Huo251.11