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Composite Control of the n–link Chained Mechanical Systems
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SYSNO ASEP 0317839 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Článek ve WOS Title Composite Control of the n–link Chained Mechanical Systems Title Kompositní řízení mechanického řetězce s n články Author(s) Zikmund, Jiří (UTIA-B) RID Source Title Kybernetika. - : Ústav teorie informace a automatizace AV ČR, v. v. i. - ISSN 0023-5954
Roč. 44, č. 5 (2008), s. 664-684Number of pages 21 s. Publication form DVD ROM - DVD ROM Language eng - English Country CZ - Czech Republic Keywords nonlinear systems ; exact linearization ; underactuated mechanical systems Subject RIV BC - Control Systems Theory R&D Projects GA102/08/0186 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10750506 - UTIA-B (2005-2011) UT WOS 000261942400005 Annotation In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n-link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilization of the underactuated n-link chain systems with a wide basin of attraction. The equilibrium point to be stabilized is the upright inverted and unstable position. The basic methodology of the proposed approach consists of various types of partial exact linearization of the model. Based on a suitable exact linearization combined with the so-called "composite principle", the asymptotic stabilization of several underactuated systems is achieved, including a general n-link. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2009
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