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Synchronization control for a class of underactuated mechanical systems via energy shaping / Dongfang Zhu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 4 (Juillet 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 4 (Juillet 2012) . - 11 p. Titre : Synchronization control for a class of underactuated mechanical systems via energy shaping Type de document : texte imprimé Auteurs : Dongfang Zhu, Auteur ; Zhou, Di, Auteur ; Jingyang Zhou, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Synchronization  control  strategy  Underactuated  mechanical  systems  Energy  shaping  technique Index. décimale : 629.8 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=JDSMAA000134000004 [...] [article] Synchronization control for a class of underactuated mechanical systems via energy shaping [texte imprimé] / Dongfang Zhu, Auteur ; Zhou, Di, Auteur ; Jingyang Zhou, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 4 (Juillet 2012) . - 11 p. Mots-clés : Synchronization  control  strategy  Underactuated  mechanical  systems  Energy  shaping  technique Index. décimale : 629.8 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=JDSMAA000134000004 [...]