| 一类欠驱动机械系统的动态及其稳定控制 |
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| 引用本文： | 刘殿通,郭卫平,易建强.一类欠驱动机械系统的动态及其稳定控制[J].自动化学报,2006,32(3):422-427. |
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| 作者姓名： | 刘殿通 郭卫平 易建强 |
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| 作者单位： | 1.Institute of Computer Science and Technology, Yantai University, Yantai 264005; |
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| 基金项目： | Supported by National Natural Science Foundation of P. R. China （60575047） |
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| 摘 要： | Abstract The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an unde ractuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
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| 关 键 词： | Underactuated systems system dynamics stable control pendulum overhead crane |
| 收稿时间： | 2005-03-10 |
| 修稿时间： | 2005-12-09 |
Dynamics and Stable Control for a Class of Underactuated Mechanical Systems |
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| LIU Dian-Tong,GUO Wei-Ping,YI Jian-Qiang.Dynamics and Stable Control for a Class of Underactuated Mechanical Systems[J].Acta Automatica Sinica,2006,32(3):422-427. |
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| Authors: | LIU Dian-Tong GUO Wei-Ping YI Jian-Qiang |
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| Affiliation: | 1.Institute of Computer Science and Technology, Yantai University, Yantai 264005;Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 |
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| Abstract: | The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm. |
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| Keywords: | Underactuated systems system dynamics stable control pendulum overhead crane |
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