摘要
The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
2006年第3期422-427,共6页
Acta Automatica Sinica
基金
Supported by National Natural Science Foundation of P.R.China (60575047)
关键词
动态系统
稳定性控制
机械系统
起重机
Underactuated systems, system dynamics, stable control, pendulum, overhead crane
