Name
Title | ||
|---|---|---|
Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems. |
Abstract | ||
|---|---|---|
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which to date is open, arises when designing controllers to induce complex repetitive motions in robots. In this paper, we propose a solution which relies on the parameterization of the VHC by the output of a double integrator. While the original control inputs are used to enforce the VHC, the control input of the double-integrator is designed to asymptotically stabilize the closed orbit and make the state of the double-integrator converge to zero. The proposed design is applied to the problem of making a PVTOL aircraft follow a circle on the vertical plane with a desired speed profile, while guaranteeing that the aircraft does not roll over for suitable initial conditions. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1016/j.automatica.2018.04.023 | Automatica |
Keywords | Field | DocType |
Dynamic virtual holonomic constraints,Underactuated mechanical systems,Orbital stabilization | Topology,Holonomic constraints,Parametrization,Double integrator,Vertical plane,Underactuation,Robot,Mechanical system,Mathematics,Manifold | Journal |
Volume | Issue | ISSN |
94 | 94 | 0005-1098 |
Citations | PageRank | References |
6 | 0.46 | 15 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alireza Mohammadi | 1 | 14 | 2.78 |
| Manfredi Maggiore | 2 | 743 | 64.79 |
| Luca Consolini | 3 | 276 | 31.16 |