Control of the Underactuated Mechanical Systems by Harmonics

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F13%3A00213769" target="_blank" >RIV/68407700:21220/13:00213769 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Control of the Underactuated Mechanical Systems by Harmonics
Original language description
The paper deals with the new point-to-point control of the underactuated mechanical systems. The goal is to find the control that can drive the system into any desired position including singular positions. The control to the singular positions and stabilizing the system around them requires new modified definition of the equilibrium and the stability of a system. There is used the control approach based on harmonics to reach the aim. The system is at first converted into exactly input-output linearizedsystem, then the control input is split into arbitrary and invariant components of the control and finally the method based on harmonics for the determination of the invariant control is developed. The control design is modified predictive control. Themethod is demonstrated on the underactuated mechanical system with flexibility and damping properties (spring-mass system mounted on a cart).
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2013
ISBN
978-953-7738-22-8
ISSN
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e-ISSN
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Number of pages
11
Pages from-to
329-339
Publisher name
University of Zagreb
Place of publication
Zagreb
Event location
Zagreb
Event date
Jul 1, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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