Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics (CROSBI ID 176072)
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Žilić, Tihomir ; Kasać, Josip ; Šitum, Željko ; Essert, Mario
engleski
Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
The paper deals with a novel control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with included actuators dynamics. Simultaneous stabilization and trajectory tracking refer to arbitrary chosen actuated and unactuated degrees of freedom (DOF) of the system. The proposed control approach can be applied both to the second order nonholonomic systems and the systems with input coupling, while a general model of actuators dynamics includes electrical, pneumatic and hydraulic drives. Control law is based on linear combination of two control signals, where first signal is designed to separately control only actuated DOF and second to separately control only unactuated DOF. Simulation example is illustrated by rotational inverted pendulum driven by electrical DC motor, showing the effectiveness of the proposed approach.
underactuated nonlinear mechanical systems; sliding mode control; trajectory tracking; stabilization; actuators dynamics
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