Kompositní řízení mechanického řetězce s n články

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F08%3A00317839" target="_blank" >RIV/67985556:_____/08:00317839 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Composite Control of the n?link Chained Mechanical Systems

Popis výsledku v původním jazyce

In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n-link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilizationof the underactuated n-link chain systems with a wide basin of attraction. The equilibrium point to be stabilized is the upright inverted and unstable position. The basic methodology of the proposed approach consists of various types of partial exact linearization of the model. Based on a suitable exact linearization combined with the so-called "composite principle", the asymptotic stabilization of several underactuated systems is achieved, including a general n-link.

Název v anglickém jazyce

Composite Control of the n?link Chained Mechanical Systems

Popis výsledku anglicky

In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n-link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilizationof the underactuated n-link chain systems with a wide basin of attraction. The equilibrium point to be stabilized is the upright inverted and unstable position. The basic methodology of the proposed approach consists of various types of partial exact linearization of the model. Based on a suitable exact linearization combined with the so-called "composite principle", the asymptotic stabilization of several underactuated systems is achieved, including a general n-link.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

—

Projekt

<a href="/cs/project/GA102%2F08%2F0186" target="_blank" >GA102/08/0186: Algoritmy pro analýzu a návrh řízení složitých systémů</a><br>

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2008

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Kybernetika

ISSN

0023-5954

e-ISSN

—

Svazek periodika

44

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

21

Strana od-do

—

Kód UT WoS článku

000261942400005

EID výsledku v databázi Scopus

—