Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Dongfang Zhu ◽  
Di Zhou ◽  
Jingyang Zhou ◽  
Kok Lay Teo
Keyword(s):  
Control System ◽  
Mechanical Systems ◽  
Synchronization Control ◽  
Underactuated Mechanical Systems ◽  
Tracking Errors ◽  
Energy Shaping ◽  
Synchronization Errors ◽  
Shaping Technique ◽  
Passivity Based Control ◽  
Control Methodology

A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method.

Modal Control of Underactuated Systems

2010 ◽  
Author(s):  
D. Dane Quinn ◽  
Vineel Mallela
Keyword(s):  
Control System ◽  
Mechanical System ◽  
Mechanical Systems ◽  
Degree Of Freedom ◽  
Feedback Gain ◽  
Underactuated Systems ◽  
Modal Control ◽  
Underactuated Mechanical Systems ◽  
Sensors And Actuators ◽  
Sensor Actuator

This work addresses the modal control of underactuated mechanical systems, whereby the number of actuators is less than the degree-of-freedom of the underlying mechanical system. The performance of the control system depends on the structure of the feedback gain matrix, that is, the coupling between sensors and actuators. This coupling is often not arbitrary, but the topology of the sensor-actuator network can be a fixed constraint of the control system. This work examines the influence of this structure on the performance of the overlying control system.

Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique

2019 ◽  
Vol 25 (11) ◽  
pp. 1752-1767 ◽  
Author(s):  
Mohammad H. Fatehi ◽  
Mohammad Eghtesad ◽  
Dan S. Necsulescu ◽  
Ali A. Fatehi
Keyword(s):  
Control System ◽  
Singular Perturbation ◽  
Underactuated System ◽  
Overhead Crane ◽  
Nonlinear Controller ◽  
Parameter Uncertainties ◽  
Energy Shaping ◽  
Flexible Cable ◽  
Shaping Technique ◽  
Linear Controller

A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) formulation is developed to divide the crane dynamics into two one-degree underactuated fast and slow subsystems. Then, a control system is designed based on the two-time scale control (TTSC) method to: (a) transfer the payload to a desired location and decrease the payload swing, by a nonlinear controller for slow dynamics; and (b) suppress transverse vibrations of the cable, by a linear controller for fast dynamics. The nonlinear controller is designed based on an energy shaping technique according to the controlled Lagrangian method. To demonstrate the control system effectiveness, an example of the flexible cable crane systems with a lightweight payload is considered to perform simulations. In addition to the proposed control system, two other controllers; namely, a linear controller based on the linear–quadratic regulator method and a TTSC based on the approximate SP model and partial feedback linearization, are applied to the system for comparison. Also, by applying a disturbance force to the trolley and considering 10% uncertainty in crane parameters, the control performance against disturbances and parameter uncertainties is investigated.

scholarly journals Global stabilisation of underactuated mechanical systems via PID passivity-based control

Automatica ◽  
2018 ◽  
Vol 96 ◽  
pp. 178-185 ◽  
Author(s):  
Jose Guadalupe Romero ◽  
Alejandro Donaire ◽  
Romeo Ortega ◽  
Pablo Borja
Keyword(s):  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Passivity Based Control

scholarly journals Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control

2017 ◽  
Vol 50 (1) ◽  
pp. 9577-9582 ◽  
Author(s):  
Jose Guadalupe Romero ◽  
Alejandro Donaire ◽  
Romeo Ortega ◽  
Pablo Borja
Keyword(s):  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Passivity Based Control

Adaptive Synchronization Control of Multiple Spacecraft Formation Flying

2006 ◽  
Vol 129 (3) ◽  
pp. 337-342 ◽  
Author(s):  
Hong-Tao Liu ◽  
Jinjun Shan ◽  
Dong Sun
Keyword(s):  
Formation Flying ◽  
Control Technique ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Tracking Errors ◽  
Control Approach ◽  
Synchronization Errors ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Multiple Spacecraft

An adaptive nonlinear synchronization control approach is developed for multiple spacecraft formation flying with elliptical reference orbits. It can guarantee that both the tracking errors and the synchronization errors of the relative positions converge to zero globally, even in the presence of uncertain parameters. The generalized synchronization concept allows us to design various synchronization errors so that different synchronization performance can be obtained. Simulation results of a leader-follower spacecraft pair and the maneuvering of multiple spacecraft in formation flying are presented to verify the effectiveness of the proposed control technique.

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