Application of SSTT control algorithm for underactuated: Surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum

Žilić, Tihomir and Kasać, Josip and Šitum, Željko and Essert, Mario (2014) Application of SSTT control algorithm for underactuated: Surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum. = Application of SSTT control algorithm for underactuated: Surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum. Advanced Robotics, 28 (8). pp. 545-556. ISSN 0169-1864. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2014). Točan broj autora: 4.

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Abstract

The paper deals with verifications and validation of the control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems. A simplicity, universality, and effectiveness of the control law are shown on simulations to the both multibody second-order nonholonomic systems (a planar PPR manipulator and an inverted pendulum) and underactuated systems with forces/moments input coupling (a surface vessel). An experimental verification has been made on the novel pneumatically actuated slider-inverted pendulum with included friction effects. Also, an actuator compensator is constructed and implemented for this highly nonlinear experimental setup to avoid the increase of the systems relative degree in the closed control loop, and to avoid the unnecessary time derivation of the systems functions with non-differentiable Coulomb friction effects.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	closed control loop; experimental verification; nonholonomic systems; simultaneous stabilization; trajectory tracking; under-actuated mechanical systems; under-actuated systems; underactuated nonlinear mechanical systems; manipulators; pendulums; pneumatic actuators; sliding mode control; stabilization; algorithms
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:	Q4 (2014)
Date Deposited:	02 Jun 2015 12:39
Last Modified:	14 Nov 2018 08:57
URI:	http://repozitorij.fsb.hr/id/eprint/4209

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