Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and Lyapunov Redesign

Ravichandran, Maruthi T.; Mahindrakar, Arun D.

doi:10.1109/tie.2010.2102318

Cited by 88 publications

(41 citation statements)

References 23 publications

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“…The system can not be fully feedback linearizable and the internal dynamics are nonlinear [5], [6]. Many control strategies are developed for MIP in the literatures based on the stabilization principle of inverted pendulum [7] and control techniques such as pole placement [3], [8], sliding mode [9], [10], backstepping [11], Lyapunov redesign [12], adaptive control, fuzzy control [13], [14] and neural control [15] have been proposed.…”

Section: *Manuscriptmentioning

confidence: 99%

“…However, the position controller fails to reorient the robot to the desired angle and hence the final orientation is achieved through an in place rotation using another controller. The problems of model uncertainties of MIP is dealt in [12] and the controller is designed through the combination of time scaling and Lyapunov redesign. The system is time scaled into two subsystems using a delay mechanism and a two level controller is developed to handle the effect of parametric uncertainties and external disturbances.…”

Section: *Manuscriptmentioning

confidence: 99%

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Nonlinear control of mobile inverted pendulum

Brisilla

Sankaranarayanan

2015

Robotics and Autonomous Systems

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Section: *Manuscriptmentioning

confidence: 99%

Section: *Manuscriptmentioning

confidence: 99%

Nonlinear control of mobile inverted pendulum

Brisilla

Sankaranarayanan

2015

Robotics and Autonomous Systems

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“…It is a challenge for the control technology that freedom of mechanism is not fully controlled, because of the quantity of independent drive less than degrees of freedom in underactuated mechanism [5,6]. Various ambitious controllers have been designed for different application scenarios by domestic and foreign scholars, and promote the development of related control theory [7,8].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Steady Holding Strategy of a Climbing Robot

Wang¹,

Liu²,

Guo³

2017

Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017)

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Abstract-Underactuated mechanism is a nonlinear system which dimension of input is less than one of state. There are still some problems to be explorations in underactuated mechanism control, especially in ones with multi-DOF. The model reference adaptive control is proposed to solve the control problem of a novel underactuated spring-coupling mechanism with multi-DOF in this paper. Firstly, dynamics model is established and linearized. Then, an adjustable gain adaptive controller based on Lyapunov stability theory is presented. Finally, simulations are presented to illustrate the superior performance of the proposed method through theoretical analysis and design. The results show that the stability, accuracy and rapid response are fine, and the adaptive steady holding problem of multi-DOF underactuated mechanism is solved.

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“…Slavka [7] have discussed the prototype model design of the pendulum system using toolboxes. Mahindrakar et al [8] have discussed the system analysis with perturbrations. Pan et al [9] have elaborated on a method of using fractional order approach which yields better precision in control.…”

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confidence: 99%

Flower Pollination for Rotary Inverted Pendulum Stabilization with Delay

Srikanth¹,

Kumar

2017

TELKOMNIKA

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Flower pollination is a single objective optimization technique which as a unconstrained optimization method is applied for the stabilization of the rotary inverted pendulum system. It was observed that the flower pollination method gave better sensitivity in control of Keywords: flower pollination, rotary inverted pendulum, stabilization, time delay, optimizationCopyright © 2017 Universitas Ahmad Dahlan. All rights reserved. IntroductionThe present technological advancements in the field of humanoid robots require analysis and knowledge of robotic programming synthesis. Synthesis in the case of systems with delay is an area which is not found much in literature. The synthesis can be declassified into various actuator movements. The study of the dynamics can be elaborated by taking an exploded image of the humanoid by itself. Some of the state of the art areas in humanoid mainly include bipedal locomotion, perception, human-robot interaction, learning and adaptive behavior, manipulation. These areas are one major application where the studies on inverted pendulum systems play a key role. Rotary Inverted Pendulum (RIP) is a control problem with typical applications in the field of systems and control, robotic manipulators and various levels of machine control which use vivid dynamic systems. The rotary inverted pendulum is also called the furuta pendulum and dynamics describe a circular trajectory [1]. Studies on dead time of systems which mainly results as a sum of dead times from the sensor and the actuator unit [2] plays key role in system performance. Flower pollination is a nature inspired algorithm which has emphasis on a single objective unconstrained optimization [3] is widely applied in control domain.Flowering plant has been evolving for at least more than 125 million years [4] whose evaluation is considered.The classical Indian Rope trick wherein a rope is made to stand in thin air without support is the origin for these kind of control problems. The plant model has been studied and applied for analysis of dynamics and also for extending the model to suit to industry requirements by researchers. Yan [5] have discussed methods to overcome the drawbacks in control using combined application of nonlinear backstepping and differential flatness. Yubai [6] discusses a design of suboptimal weights using iterative schemes that maximizes robust stability using h-infinity norms. Slavka [7] have discussed the prototype model design of the pendulum system using toolboxes. Mahindrakar et al [8] have discussed the system analysis with perturbrations. Pan et al [9] have elaborated on a method of using fractional order approach which yields better precision in control. XU [10] et al have investigated the aspects of delay compensation using sliding mode controller. Abhishek [11] have discussed a fusion technique for control of the pendulum using fuzzy logic. Yogesh et al [12] have obtained better tracking using ANFIS based controller.

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Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and Lyapunov Redesign

Cited by 88 publications

References 23 publications

Nonlinear control of mobile inverted pendulum

Nonlinear control of mobile inverted pendulum

Modeling and Steady Holding Strategy of a Climbing Robot

Flower Pollination for Rotary Inverted Pendulum Stabilization with Delay

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