Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping-Reference-Cited by-同舟云学术

Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping

Published:2012-04-27 Issue:4 Volume:134 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Zhu Dongfang¹,Zhou Di¹,Zhou Jingyang²,Teo Kok Lay²

Affiliation:

1. Harbin Institute of Technology, Mailbox 327, Harbin 150001, China

2. Department of Mathematics and Statistics, Curtin University, Perth 6102, Australia

Abstract

A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4006073/5523624/041007_1.pdf

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