Nonlinear suboptimal control for a class of underactuated mechanical systems

Sanchez, Bonifacio; Ordaz, Patricio; García-Barrientos, Abel; Vera, Edgar

doi:10.1109/iceee.2015.7357970

Cited by 5 publications

(4 citation statements)

References 24 publications

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“…1d (14) Since the goal is to guaranty the asymptotical stability of the entire system,ẍ 1d should be designed such that in addition to x 3 and x 4 , x 1d andẋ 1d also converge to zero. Now, the following new state variables will be defined:…”

Section: Controller Design For the Nominal Casementioning

confidence: 99%

“…If the parameters of the outer loop are chosen as k 1 = 190 and k 2 = 19, the error signal will converge to zero. Therefore, using the control law (5), the subsystem (14) will have the following dynamics:…”

Section: Controller Design For Nominal Pendubot Systemmentioning

confidence: 99%

“…After switching, the second controller is activated that is designed based on either linear methods such as linear quadratic regulator and pole placement 7,8 or nonlinear methods such as Takagi-Sugeno fuzzy model and adaptive neural network. 8,9 In the design of the first control law, control theories such as partial feedback linearization, 10 sliding mode, 11 observer-based control, 12 energy-based control, 13 optimal control, 14 and backstepping control 15 have been utilized. Unfortunately, in some systems, it is difficult to predict the switching time offline or to propose an algorithm to determine it online.…”

Section: Introductionmentioning

confidence: 99%

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A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

Aminsafaee¹,

Shafiei²

2020

Robotica

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SUMMARY This paper studies the stabilization problem for a class of underactuated systems in the presence of unknown disturbances. Due to less number of control inputs with respect to the degrees of freedom of the system, closed-loop asymptotic stability is a challenging issue in this field. In this paper, anti-swing controllers are designed for nominal and disturbed systems. In the case of the nominal system, the proposed two-loop controller is a combination of collocated partial feedback linearization and hierarchical sliding mode control (HSMC) theories. Then, due to the importance of robustness in control of physical systems, the proposed controller is developed for underactuated mechanical systems in the presence of additive disturbances. One of the main advantages of the proposed design method is that it does not need any switching algorithm. Finally, to illustrate the performance of the proposed controllers, they are applied to two underactuated mechanical systems: a pendubot and a Furuta pendulum. In addition, the practicality of the proposed approach is also verified experimentally using a quadrotor stand.

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Section: Controller Design For the Nominal Casementioning

confidence: 99%

Section: Controller Design For Nominal Pendubot Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

Aminsafaee¹,

Shafiei²

2020

Robotica

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“…The aim of this paper is to design a nonlinear smooth sub‐optimal control which guarantees the SSU . This work is an extension of the paper , where the main difference is the control algorithm complete design. To illustrate the theoretical results, the dynamic properties and the closed loop system are tested in a numerical example.…”

Section: Introductionmentioning

confidence: 99%

Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

Sanchez

Ordaz

Santos

2018

Asian Journal of Control

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This paper deals with the smooth control design for Swing-Stabilization Up of underactuated pendular robot. The considered system has, at least, two different no actuated links, one of them is pendular like elbow, the other one is prismatic and elastic. Thus, the control aim is to swing-up and stabilize the underactuated system by using non-switched control algorithm. To this, the control algorithm summarizes the concept of sub-optimal control, the energy based control and the Kalman's canonical decomposition to unify the Swing-Up and Stabilization of the considered underactuated system. In order to test the designed control algorithm, experimental results are presented for the non-conventional rotatory elastic-pendulum system.

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Ultimate uniform bounded-stability of inertial coupling electromechanical system via nonlinear time-varying feedback

Ordaz

2016

International Journal of Control

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Nonlinear suboptimal control for a class of underactuated mechanical systems

Cited by 5 publications

References 24 publications

A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

Ultimate uniform bounded-stability of inertial coupling electromechanical system via nonlinear time-varying feedback

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