Control of the Underactuated Mechanical Systems by Harmonics

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Control of the Underactuated Mechanical Systems by Harmonics

Popis výsledku v původním jazyce

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).

Název v anglickém jazyce

Control of the Underactuated Mechanical Systems by Harmonics

Popis výsledku anglicky

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).

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2013

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

11

Strana od-do

329-339

Název nakladatele

University of Zagreb

Místo vydání

Zagreb

Místo konání akce

Zagreb

Datum konání akce

1. 7. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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