| Titre : | Synchronization control for a class of underactuated mechanical systems via energy shaping (2012) |
| Auteurs : | Dongfang Zhu, Auteur ; Zhou, Di, Auteur ; Jingyang Zhou, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 134 N° 4, Juillet 2012) |
| Article en page(s) : | 11 p. |
| Note générale : | Dynamic systems |
| Langues : | Anglais |
| Index. décimale : | 629.8 |
| Tags : | Synchronization control strategy Underactuated mechanical systems Energy shaping technique |
| Résumé : | A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method. |
| DEWEY : | 629.8 |
| ISSN : | 0022-0434 |
| En ligne : | http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000004041007000001&idtype=cvips&gifs=Yes&ref=no |
