scholarly journals MATLAB-based Tools for Modelling and Control of Underactuated Mechanical Systems

2020 ◽  
Vol 6 (3) ◽  
Author(s):  
Slávka Jadlovská ◽  
Lukáš Koska ◽  
Matej Kentoš
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Systems ◽  
Underactuated Systems ◽  
Underactuated Mechanical Systems ◽  
Software Support ◽  
Nonlinear Mechanical ◽  
Inertia Wheel Pendulum ◽  
Nonlinear Mechanical Systems ◽  
And Control ◽  
Insight Into

Underactuated systems, defined as nonlinear mechanical systems with fewer control inputs than degrees of freedom, appear in a broad range of applications including robotics, aerospace, marine and locomotive systems. Studying the complex low-order nonlinear dynamics of appropriate benchmark underactuated systems often enables us to gain insight into the principles of modelling and control of advanced, higher-order underactuated systems. Such benchmarks include the Acrobot, Pendubot and the reaction (inertia) wheel pendulum. The aim of this paper is to introduce novel MATLAB-based tools which were developed to provide complex software support for modelling and control of these three benchmark systems. The presented tools include a Simulink block library, a set of demo simulation schemes and several innovative functions for mathematical and simulation model generation.

Stabilization of Internal Dynamics of Underactuated Systems by Periodic Servo-Constraints

2017 ◽  
Vol 17 (05) ◽  
pp. 1740004 ◽  
Author(s):  
László Bencsik ◽  
László L. Kovács ◽  
Ambrus Zelei
Keyword(s):  
Stability Analysis ◽  
Dynamic Behavior ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Algorithmic Approach ◽  
Servo Constraints ◽  
And Control ◽  
Dependent Coordinates

The model-based motion control of underactuated, multiple degree-of-freedom, complex multibody systems is in focus. Underactuated mechanical systems possess less number of independent control inputs than degrees-of-freedom. The main difficulty in their control is caused by the dynamics of the uncontrolled part of the system. The complexity of multibody systems makes the dynamical and control formulation difficult. The direct application of traditional control techniques available in the literature can lead to unstable dynamic behavior in many cases. In order to avoid instability, these general methods are usually adapted for specific problems in an intuitive way. Here, we present a direct, more algorithmic approach, and propose the use of periodic servo-constraints to overcome stability problems and enhance the dynamic behavior. An exact, stability analysis-based method is also proposed for tuning the control parameters. A stability analysis procedure is developed which is directly applicable for investigating the dynamics of mechanical systems described by dependent coordinates and mathematically formulated as a set of algebraic differential equations.

scholarly journals Application of physical function model to state estimations of nonlinear mechanical systems

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Heisei Yonezawa ◽  
Itsuro Kajiwara ◽  
Shota Sato ◽  
Chiaki Nishidome ◽  
Takashi Hatano ◽  
...  
Keyword(s):  
Physical Function ◽  
Mechanical Systems ◽  
Function Model ◽  
Nonlinear Mechanical ◽  
State Estimations ◽  
Nonlinear Mechanical Systems

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.

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