Hybrid control for a class of underactuated mechanical systems

Fierro, Rafael; Lewis, Frank L.; Löwe, Arno

doi:10.1109/3468.798069

Cited by 67 publications

(38 citation statements)

References 17 publications

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“…An under-actuated control was applied to the well-known swing up and balancing control problem of the inverted pendulum [1]. Begovich et al [2] presented a Takagi-Sugeno fuzzy scheme for the real-time trajectory tracking of an underactuated robot: the Pendubot.…”

Section: Introductionmentioning

confidence: 99%

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

Hwang

Shih

2009

2009 IEEE International Conference on Fuzzy Systems

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Based on the previous studies, the dynamic balance of an electrical bicycle includes two control inputs: steering and pendulum torques, and three system outputs: steering, lean and pendulum angles. Two novel reference signals are first designed so that the uncontrolled mode is simultaneously included into these two control modes. Two scaling factors for each subsystem are first employed to normalize the sliding surface and its derivative. The so-called fuzzy decentralized sliding-mode under-actuated control (FDSMUC) is first designed. Because the uncertainties of a bicycle system, caused by different ground conditions, gusts of wind, and interactions among subsystems, are often huge, an extra compensation of learning uncertainty is plunged into FDSMUC to enhance system performance. We call it as "fuzzy decentralized sliding-mode adaptive under-actuated control" (FDSMAUC). To avoid the unnecessary transient response and then destroy the balance of the bicycle, the combination of FDSMUC and FDSMAUC with a transition (i.e., fuzzy decentralized sliding-mode robust adaptive under-actuated control, FDSMRAUC) is designed. Finally, the compared simulations for an electrical bicycle among the FDSMUC, FDSMAUC and FDSMRAUC validate the efficiency of the proposed method.

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Section: Introductionmentioning

confidence: 99%

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

Hwang

Shih

2009

2009 IEEE International Conference on Fuzzy Systems

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“…There has been a great deal of research on underactuated mechanical systems which possess fewer actuators than degrees of freedom [1][2][3][4][5][6][7][8]. Examples of such systems include gymnastic robots [9], walking robots [10], manipulators with passive joints [11,12], flexible-link robots [13], underwater vehicles [14], aircrafts [15,16], and fully actuated mechanisms with actuator failure.…”

Section: Introductionmentioning

confidence: 99%

A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity

Xin

She

Liu³

2011

Nonlinear Dyn

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This paper concerns the swing-up control of an n-link revolute planar robot with any one of the joints being passive. The goal is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point, at which all the links are in the upright position. We present a unified solution based on the notion of virtual composite link (VCL), which is a virtual link made up of one or more active links. By using the angles of two series of VCLs separated by the passive joint and using the total mechanical energy of the robot, we design a swing-up controller and analyze the global motion of the robot under the controller. The main new results of this paper are: (1) we obtain a lower bound for each control gain related to the angle of each VCL such that the closed-loop system has only one undesired equilibrium point in addi-X. Xin ( ) tion to the upright equilibrium point, and we present an original proof of the conditions on the control gains for a class of n-link underactuation-degree-one planar robots with an active first joint; (2) we provide a bigger control gain region for achieving the control objective than those of previous results on three-and n-link robots with a passive first joint; (3) we validate the theoretical results via numerical simulations on a 4-link robot with the passive joint in each of the four positions. This paper gains an insight into the passivitybased control of underactuated multiple-DOF systems.

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“…The method has been extensively applied to control of the Acrobot [15], the three-link pendulum [17], the cart-pole system [28], the double pendulum cart [33], the pendulum-driven cart [36], and the capsule system…”

Section: Collocated Pfl [17]mentioning

confidence: 99%

“…The control works of the cart-pole system in the past two decades are huge from energy-based method to FC approach [24,17,25,26,27,28], and its extended systems are massive, e.g. wheeled inverted pendulum [29,30,31], two-parallel-pendulum cart [32], two-serial-pendulum cart [33], 3-D pendulum cart [34], pendulum-driven cart [35,36], and double-pendulum-driven cart [37].…”

Section: The Cart-pole System and The Crane Systemmentioning

confidence: 99%

“…A special concern is paid to the setpoint regulation of UMS as there is no breakthrough on global stabilization, and almost all the works (e.g. [3,28,16,33]) were done by supervisory switching from swing-up control to balancing control which was actually not a global stabilizer. Global stability results maybe only exist for a limited class of UMSs.…”

Section: Theoretical Challengesmentioning

confidence: 99%

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A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

249

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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Hybrid control for a class of underactuated mechanical systems

Cited by 67 publications

References 17 publications

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity

A survey of underactuated mechanical systems

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