A survey of underactuated mechanical systems

Liu, Yang; Yu, Hongnian

doi:10.1049/iet-cta.2012.0505

Cited by 244 publications

(158 citation statements)

References 200 publications

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“…The difference between the existing sliding-mode controllers, e.g. [5,9,10] and the proposed one is that the latter has tolerance for parameter uncertainties and is robust to the variation of WOB as measuring all these physical parameters precisely in The drill-string is an underactuated system [11] as it has one control torque input actuating on the rotary table from the ground and multi-degree-of-freedom downhole parts comprising the drill pipes, the drill collars and the drill bit to be controlled. For traditional underactuated systems, friction is always omitted or simplified despite it plays a significant role in some engineering applications, e.g.…”

Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…There are many systems with the underactuated property, e.g., acrobot, pendubot, cart-pole, the beam-and-ball, inertia-wheel pendulum, airplane and multicopter, hovercraft, surface vessel. A recent review of underactuated systems and their control is presented widely in [7].…”

Section: Underactuated Systemmentioning

confidence: 99%

Chaotic behaviors of an underactuated system in the trajectory tracking task

Korczak

2017

Arch Appl Mech

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This contribution presents some nonlinear behaviors of an underactuated mechanical system under the trajectory tracking task. Presented hovercraft model is fully controlled by the computed torque algorithm with the pseudoinverse operation and proportional-derivative feedback. General form of errors dynamic equation gives possibility to analyze their behavior. These errors present irregular behaviors because of the input force limitations. Positive values of highest Lyapunov exponent and Fourier spectrum shape prove chaotic behavior of the system.

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“…Using the Lagrangian formulation [7], the dynamic model of the gantry crane can be represented as, ,…”

Section: Mathematical Model Of Gantry Cranesmentioning

confidence: 99%

Fast Terminal Sliding Mode Control for Gantry Cranes

Singh¹,

Hoang²,

Ha³

2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Cranes remain a vital tool for the construction of infrastructure such as buildings, bridges, etc. Recently, there has been renewed interest in crane automation in dealing with concerns on safety and possible performance degradation due to system uncertainties and disturbances. One potential solution to the problem is the use of robust techniques based on the Sliding Mode Control (SMC) methodology. Much research has been conducted to design controllers based on linear sliding surfaces, aiming at achieving the desired control performance in finite time. In this context, this paper proposes a control method, based on the Fast Terminal Sliding Mode (FTSM), to guarantee finite-time stability of the crane. To do that, we have derived a mathematical model of the crane using Lagrangian formulation with uncertainties as bounding functions. Then, sliding surfaces based on the hierarchical sliding mode are defined, and a control law is derived using the Lyapunov stability theory. The hierarchical sliding surfaces consist of two layers. The first layer include sliding functions based on FTSM to enable faster convergence of the system to equilibrium. This can have advantages in high precision tracking applications. In the second-layer, the sliding surface is designed from the linear combination of the first layer sliding functions. Also, we have given a proof of the stability of the system in finite time. Extensive simulation results show the proposed controller based on FTSM can achieve higher performance in stabilizing the swinging load of a gantry crane. Laboratorial experiments have been conducted to verify the obtained results in terms of the superior convergence time and improved performance over conventional SMC.

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A survey of underactuated mechanical systems

Cited by 244 publications

References 200 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Chaotic behaviors of an underactuated system in the trajectory tracking task

Fast Terminal Sliding Mode Control for Gantry Cranes

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