Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

Žilić, Tihomir and Kasać, Josip and Šitum, Željko and Essert, Mario (2013) Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics. = Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics. Multibody System Dynamics, 29 (1). pp. 1-19. ISSN 1384-5640. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q2 (2013). Točan broj autora: 4.

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Abstract

The paper deals with a novel control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with included actuators dynamics. Simultaneous stabilization and trajectory tracking refer to arbitrary chosen actuated and unactuated degrees of freedom (DOF) of the system. The proposed control approach can be applied both to the second-order nonholonomic systems and the systems with input coupling, while a general model of actuators dynamics includes electrical, pneumatic, and hydraulic drives. Control law is based on linear combination of two control signals, where the first signal is designed to separately control only actuated DOF, and second to separately control only unactuated DOF. Simulation example of rotational inverted pendulum driven by electrical DC motor is presented, showing the effectiveness of the proposed approach.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	control approach; control laws; control signal; general model; input coupling; inverted pendulum; linear combinations; nonholonomic systems; nonlinear mechanical systems; second orders; simulation example; simultaneous stabilization; trajectory tracking; unactuated; unactuated degrees; underactuated; underactuated mechanical systems; algorithms; DC motors; dynamics; hydraulic drives; sliding mode control; stabilization; pneumatic actuators
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	Yes
Indexed in Current Contents:	Yes
Quartiles:	Q2 (2013)
Date Deposited:	06 May 2015 07:32
Last Modified:	13 Dec 2018 15:11
URI:	http://repozitorij.fsb.hr/id/eprint/4076

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