Output‐feedback stabilisation control for a class of under‐actuated mechanical systems

Xu, Liang; Hu, Qinglei

doi:10.1049/iet-cta.2012.0734

Cited by 21 publications

(7 citation statements)

References 28 publications

(34 reference statements)

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“…Later, Guo et al first utilised the SMC to wheeled inverted pendulum system in [6], in which a high performance was obtained by the presented strategies. Similar works can also be found in [16][17][18], all of which obtained a satisfactory multi-objectives performance by SMC for their underactuated plants. On the other hand, with the development of the SMC, the prescribed performance of the closed-loop system, e.g.…”

Section: Introductionsupporting

confidence: 69%

MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

Yue

Ding

et al. 2018

IET Control Theory & Applications

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Section: Introductionsupporting

confidence: 69%

MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

Yue

Ding

et al. 2018

IET Control Theory & Applications

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“…Te IWP, consisting of a rotating uniform inertia wheel and a pendulum (see Figure 2(a)) demand stabilization of the pendulum at the upright unstable equilibrium (ξ 1 � 0) with a control torque u which is applied to the rotating wheel [18,23,40,41]. Parameters of the IWP are shown in Table 2.…”

Section: Iwpmentioning

confidence: 99%

“…A systematically unique design strategy is usually used for such systems such as IWP [13], TORA [14], the Furuta Pendulum [15], the Overhead Crane [16], and the Beam-and-Ball [17] due to complex dynamics. In literature, a design framework is also proposed which enclose systems in a specifc class, e.g., controlled Lagrangian [18], equivalent-input disturbance [19], sliding mode [20], energy-based [21], IDA-PBC [22], output feedback stabilization [18], dynamic surface control [23], and adaptive approaches [14].…”

Section: Introductionmentioning

confidence: 99%

Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties

et al. 2023

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Underactuated mechanical systems offer complex dynamic behavior and poses control challenges, especially in the presence of uncertainties in the system. To cope with such systems, control mechanisms are required, which needs to be robust. In this research, an algorithm based on sliding mode control (SMC) is presented. The algorithm design offer a methodical way to handle underactuation, while the robustness properties of SMC suppresses the effect of norm bounded uncertainties and external disturbances. To proceed with the design, an underactuated system is converted into cascaded subsystems, a linear one and reduced-order nonlinear subsystem. The proposed SMC design is backed by rigorous mathematical presentation and based on Lyapunov theory, so that the global stabilization of overall system is ensured. Numerical simulations are performed, on the laboratory test bench underactuated systems (Inertial Wheel, Furuta Pendulum, TORA, and an Overhead Crane), to validate the efficacy of the proposed design. In addition, a novel sliding surface is presented for Inertial Wheel and Furuta Pendulum to achieve swingup control and global stabilization subjected to uncertainties.

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“…Moreover, based on the passive property of the TORA system, some output feedback controllers are proposed in [15–17] to control the TORA system without the need for velocity measurements. In [18–24], according to the cascade form model of the TORA system, some output feedback controllers respecting velocity feedback unavailability and sliding mode controllers taking external disturbances into consideration are developed for the stabilization of the TORA system. In addition to the above‐mentioned schemes, some other control techniques, such as intelligent control and backstepping control, are also utilized for the stabilization of the TORA system [25–32].…”

Section: Introductionmentioning

confidence: 99%

Output feedback control for an underactuated benchmark system with bounded torques

et al. 2020

Asian Journal of Control

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In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude‐saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy‐like function is introduced and a corresponding amplitude‐saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy‐like function. Lyapunov‐based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed‐loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

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Output‐feedback stabilisation control for a class of under‐actuated mechanical systems

Cited by 21 publications

References 28 publications

MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties

Output feedback control for an underactuated benchmark system with bounded torques

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