Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

Čelikovský, Sergej; Anderle, Milan

doi:10.1016/j.jfranklin.2024.107086

Journal of the Franklin Institute

2024

DOI: 10.1016/j.jfranklin.2024.107086

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Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

Sergej Čelikovský,

Milan Anderle

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2024

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Cited by 2 publications

References 28 publications

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A Survey of Planar Underactuated Mechanical System

Huang,

Yu,

Zeng

et al. 2024

Machines

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Planar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM) systems containing a single passive joint. Firstly, the general dynamics model and kinematics model of the PUM are given, and its control characteristics are introduced; secondly, according to the distribution position characteristics of the passive joints, the PUM is classified into the passive first joint system, the passive last joint system, and the passive intermediate joint system, and the analysis and discussion are carried out in respect to the existing intelligent control methods. Finally, in response to the above discussion, we provide a brief theoretical analysis and summarize the challenges faced by PUM, i.e., uncertainty and robustness of the system, unified control methods and research on underactuated systems with uncontrollable multi-passive joints; at the same time, the practical applications have certain limitations that need to be implemented subsequently, i.e., anti-jamming, multi-planar underactuated robotic arm co-control and spatial underactuated robotic arm system development. Aiming at the above challenges and problems in the control of PUM systems, we elaborate on them in points, and put forward the research directions and related ideas for future work, taking into account the contributions of the current work.

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A Survey of Planar Underactuated Mechanical System

Huang,

Yu,

Zeng

et al. 2024

Machines

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Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

Rehák,

Lynnyk,

Lynnyk

2024

Mathematics

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The consensus problem of a multi-agent system with nonlinear second-order underactuated agents is addressed. The essence of the approach can be outlined as follows: the output is redesigned first so that the agents attain the minimum-phase property. The second step is to apply the exact feedback linearization to the agents. This transformation divides their dynamics into a linear observable part and a non-observable part. It is shown that consensus of the linearizable parts of the agents implies consensus of the entire multi-agent system. To achieve the consensus of the original system, the inverse transformation of the exact feedback linearization is applied. However, its application causes changes in the dynamics of the multi-agent system; a way to mitigate this effect is proposed. Two examples are presented to illustrate the efficiency of the proposed synchronization algorithm. These examples demonstrate that the synchronization error decreases faster when the proposed method is applied. This holds not only for the states constituting the linearizable dynamics but also for the hidden internal dynamics.

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Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

Cited by 2 publications

References 28 publications

A Survey of Planar Underactuated Mechanical System

A Survey of Planar Underactuated Mechanical System

Synchronization of Multi-Agent Systems Composed of Second-Order Underactuated Agents

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