Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints | |
Su, Tingting1,2; Liang, Xu2; He, Guangping1; Jia, Taoming1; Zhao, Quanliang1; Zhao, Lei1 | |
刊名 | APPLIED SCIENCES-BASEL |
2019-10-01 | |
卷号 | 9期号:20页码:20 |
关键词 | dynamics modeling orbital stability robots switching control variant constraints |
DOI | 10.3390/app9204235 |
英文摘要 | Locomotion systems with variant constraints are familiar in real world applications, but the dynamics and control issues of variant constraint systems have not been sufficiently discussed to date. From the viewpoint of Lagrange-d'Alembert equations with additional variable constraints, this paper investigates the modeling approaches of a class of hybrid dynamical systems (HDS) with instantaneously variant constraints and the switching control techniques of stabilizing the HDS to given periodic orbits. It is shown that under certain conditions there possibly exist zero impact periodic orbits in the HDS, and the HDS can be stabilized to the period-one orbits by a linear controller with only partial state feedback, even though the HDS are generally underactuated nonholonomic systems. As an example, a one-legged planar hopping robot is employed to demonstrate the main results of modeling and control of a class of HDS. |
资助项目 | National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] |
WOS关键词 | EXPONENTIAL STABILIZATION ; BIPED ROBOTS ; STABILITY |
WOS研究方向 | Chemistry ; Materials Science ; Physics |
语种 | 英语 |
出版者 | MDPI |
WOS记录号 | WOS:000496269400038 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/28906] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | He, Guangping |
作者单位 | 1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Su, Tingting,Liang, Xu,He, Guangping,et al. Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints[J]. APPLIED SCIENCES-BASEL,2019,9(20):20. |
APA | Su, Tingting,Liang, Xu,He, Guangping,Jia, Taoming,Zhao, Quanliang,&Zhao, Lei.(2019).Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints.APPLIED SCIENCES-BASEL,9(20),20. |
MLA | Su, Tingting,et al."Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints".APPLIED SCIENCES-BASEL 9.20(2019):20. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论