Global stabilization of 2-DOF underactuated mechanical systems—an equivalent-input-disturbance approach

She, Jinhua; Zhang, Ancai; Lai, Xuzhi; Wu, Min

doi:10.1007/s11071-011-0280-3

Cited by 88 publications

(33 citation statements)

References 29 publications

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“…However, there are still potential contributions for this matter, e.g. recent works [21,168,194,22,195], which proposed new set-point regulation methods;…”

Section: Concluding Remarks and Future Researchmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

245

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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“…However, there are still potential contributions for this matter, e.g. recent works [21,168,194,22,195], which proposed new set-point regulation methods;…”

Section: Concluding Remarks and Future Researchmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

245

142

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“…It is a challenge for the control technology that freedom of mechanism is not fully controlled, because of the quantity of independent drive less than degrees of freedom in underactuated mechanism [5,6]. Various ambitious controllers have been designed for different application scenarios by domestic and foreign scholars, and promote the development of related control theory [7,8].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Steady Holding Strategy of a Climbing Robot

Wang¹,

Liu²,

Guo³

2017

Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017)

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Abstract-Underactuated mechanism is a nonlinear system which dimension of input is less than one of state. There are still some problems to be explorations in underactuated mechanism control, especially in ones with multi-DOF. The model reference adaptive control is proposed to solve the control problem of a novel underactuated spring-coupling mechanism with multi-DOF in this paper. Firstly, dynamics model is established and linearized. Then, an adjustable gain adaptive controller based on Lyapunov stability theory is presented. Finally, simulations are presented to illustrate the superior performance of the proposed method through theoretical analysis and design. The results show that the stability, accuracy and rapid response are fine, and the adaptive steady holding problem of multi-DOF underactuated mechanism is solved.

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“…A dual-controller approach to swing up and balancing of the reaction wheel pendulum is introduced by [10]. Subsequent works, including [11] and [12], demonstrate classical nonlinear global controllers. In this paper, we motivate NMPC for global stabilisation of this plant.…”

Section: Introductionmentioning

confidence: 99%

Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

Sowman

Laila

Longo

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as 'swing-up'. This is as opposed to many common implementations in which two controllers are used -one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.

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Global stabilization of 2-DOF underactuated mechanical systems—an equivalent-input-disturbance approach

Cited by 88 publications

References 29 publications

A survey of underactuated mechanical systems

A survey of underactuated mechanical systems

Modeling and Steady Holding Strategy of a Climbing Robot

Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

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