scholarly journals Stabilization of energy level sets of underactuated mechanical systems exploiting impulsive braking

2021 ◽  
Vol 106 (1) ◽  
pp. 279-293
Author(s):  
Nilay Kant ◽  
Ranjan Mukherjee ◽  
Hassan Khalil
Keyword(s):  
Energy Level ◽  
Level Sets ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems

scholarly journals Stabilization of Energy Level Sets of Underactuated Mechanical Systems Exploiting Impulsive Braking

2021 ◽  
Author(s):  
Nilay Kant ◽  
Ranjan Mukherjee ◽  
Hassan K Khalil
Keyword(s):  
Energy Level ◽  
Level Set ◽  
Control Strategy ◽  
Level Sets ◽  
Impulsive Control ◽  
Mechanical Energy ◽  
Mechanical Systems ◽  
Degree Of Freedom ◽  
Underactuated Systems ◽  
Underactuated Mechanical Systems

Abstract Recent investigations of underactuated systems have demonstrated the benefits of control inputs that are impulsive in nature. Here we consider the problem of stabilization of energy level sets of underactuated systems exploiting impulsive braking. We consider systems with one passive degree-of-freedom (DOF) and the energy level set is a manifold where the active coordinates are fixed and the mechanical energy equals some desired value. A control strategy comprised of continuous inputs and intermittent impulsive braking inputs is presented. The generality of the approach is shown through simulation of a three-DOF Tiptoebot; the feasibility of implementation of impulsive control using standard hardware is demonstrated using a rotary pendulum.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

Periodic motion planning and control for underactuated mechanical systems

2017 ◽  
Vol 91 (6) ◽  
pp. 1350-1362 ◽  
Author(s):  
Zeguo Wang ◽  
Leonid B. Freidovich ◽  
Honghua Zhang
Keyword(s):  
Motion Planning ◽  
Periodic Motion ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Planning And Control ◽  
And Control
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