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.

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.

Robust Finite Time Controller Design for Second Order Underactuated Mechanical Systems

2013 ◽  
Vol 284-287 ◽  
pp. 2310-2314 ◽  
Author(s):  
Kuang Shine Yang ◽  
Chi Cheng Cheng ◽  
Jung Hua Yang
Keyword(s):  
Lyapunov Stability ◽  
Finite Time ◽  
Controller Design ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Second Order ◽  
Underactuated Systems ◽  
Underactuated Mechanical Systems ◽  
Pendulum System ◽  
Finite Time Convergence

Stabilization and tracking control of nonlinear uncertain underactuated systems are always challenging problems because underacturated systems have fewer independent control actuators than degrees of freedom to be controlled. For a class of second order underactuated mechanical systems, a robust finite time control strategy is developed in this paper. The robust finite time controller is to drive the tracking error to be zero at the fixed final time. In fact, finite time convergence implies nonsmooth or non-Lipschitz continuous autonomous systems with nonuniqueness of solution. In order to prove the stability, we present a generalized Lyapunov stability proof for the second order underactuated mechanical system. By utilizing a Lyapunov stability theorem, we can achieve finite time tracking of desired reference signals for underactuated systems, which is subject to both external disturbances and system uncertainties. The proposed control scheme is demonstrated by actual experiments on a Furuta pendulum system. Based on the experiment results, the finite time convergence of system errors can be assured.

Classification of two-degree-of-freedom underactuated mechanical systems

2015 ◽  
Vol 9 (10) ◽  
pp. 1501-1510 ◽  
Author(s):  
Divine Maalouf ◽  
Shunjie Li ◽  
Yannick Aoustin ◽  
Claude H. Moog
Keyword(s):  
Mechanical Systems ◽  
Degree Of Freedom ◽  
Underactuated Mechanical Systems ◽  
Two Degree Of Freedom

scholarly journals Robust Regulation and Tracking Control of a Class of Uncertain 2DOF Underactuated Mechanical Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
David I. Rosas Almeida ◽  
Carlos Gamez ◽  
Raul Rascón
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Mechanical Systems ◽  
State Variables ◽  
Underactuated Mechanical Systems ◽  
Robust Controller ◽  
Unknown Disturbances ◽  
Robust Regulation ◽  
Regulation And Tracking

A strategy to design and implement a robust controller for a class of underactuated mechanical systems, with two degrees of freedom, which solves the problems of regulation and trajectory tracking, is proposed. This control strategy considers the partial measurement of the state vector and the presence of parametric uncertainties in the plant; these conditions are common in the implementation of a control system. The strategy is based on the use of robust finite time convergence observers to estimate the unmeasured state variables, unknown disturbances, and other signals needed for the control system implementation. The performance of the control strategy is illustrated numerically and experimentally.

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.

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

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