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

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Title: Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics.
Authors: Zilic, Tihomir1 tzilic@fsb.hr, Kasac, Josip1, Situm, Zeljko1, Essert, Mario1
Source: Multibody System Dynamics. Jan2013, Vol. 29 Issue 1, p1-19. 19p.
Subjects: Trajectory optimization, Actuators, Sliding mode control, Nonlinear analysis, Analytical mechanics, Mathematical models
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. [ABSTRACT FROM AUTHOR]
Copyright of Multibody System Dynamics is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 84403359
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PubTypeId: academicJournal
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  Data: Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics.
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  Data: <searchLink fieldCode="AR" term="%22Zilic%2C+Tihomir%22">Zilic, Tihomir</searchLink><relatesTo>1</relatesTo><i> tzilic@fsb.hr</i><br /><searchLink fieldCode="AR" term="%22Kasac%2C+Josip%22">Kasac, Josip</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Situm%2C+Zeljko%22">Situm, Zeljko</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Essert%2C+Mario%22">Essert, Mario</searchLink><relatesTo>1</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Multibody+System+Dynamics%22">Multibody System Dynamics</searchLink>. Jan2013, Vol. 29 Issue 1, p1-19. 19p.
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  Data: <searchLink fieldCode="DE" term="%22Trajectory+optimization%22">Trajectory optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+analysis%22">Nonlinear analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Analytical+mechanics%22">Analytical mechanics</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+models%22">Mathematical models</searchLink>
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  Data: 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. [ABSTRACT FROM AUTHOR]
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  Label:
  Group: Ab
  Data: <i>Copyright of Multibody System Dynamics is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s11044-012-9303-1
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      – Code: eng
        Text: English
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        PageCount: 19
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      – SubjectFull: Trajectory optimization
        Type: general
      – SubjectFull: Actuators
        Type: general
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: Nonlinear analysis
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      – SubjectFull: Analytical mechanics
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      – SubjectFull: Mathematical models
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      – TitleFull: Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics.
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            – D: 01
              M: 01
              Text: Jan2013
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              Y: 2013
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            – TitleFull: Multibody System Dynamics
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