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Composite control of the n-link chained mechanical systems
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SYSNO ASEP 0083777 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Composite control of the n-link chained mechanical systems Title Kompositní řízení mechanického řetězce o s obecným počtem článků Author(s) Čelikovský, Sergej (UTIA-B) RID, ORCID
Zikmund, Jiří (UTIA-B) RIDSource Title Proceedings 16th International Conference Process Control 2007. - Bratislava : Slovak University of Technology in Bratislava, 2007 - ISBN 978-80-227-2677-1 Pages 130-1-130-6 Number of pages 6 s. Publication form CD ROM - CD ROM Action Process Control 2007 Event date 11.06.2007-14.06.2007 VEvent location Štrbské Pleso Country SK - Slovakia Event type EUR Language eng - English Country SK - Slovakia Keywords Nonlinear systems ; Underactuated systems ; Exact linearization Subject RIV BC - Control Systems Theory R&D Projects GA102/05/0011 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10750506 - UTIA-B (2005-2011) Annotation A new control concept for a class of an underactuated mechanical system is presented here. More precisely, the system in question is the chain of n links having n - 1 actuators between them and attached by one its ends to the horizontal plane. This paper presents its stabilization from a wide range of initial positions, much wider than typical local results in the current literature. The corresponding control is based on the superposition of n control schemes based on the well known partial exact linerization theory of nonlinear systems and combinates two different control strategies. Main control, based on maximal exact linearization of the system, is designed to control the trajectory of the centre of gravity of the system. Critically stable internal dynamics is control by a set of auxiliary inputs derived from partial exact linearization of the system. All parts of control (main control and set of auxiliary inputs) act simultaneously. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2008
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