Simple energy-based controller for a class of underactuated mechanical systems (original) (raw)
2014, International Journal of Precision Engineering and Manufacturing
This paper proposes a simple energy-based controller for a class of underactuated mechanical systems. The mechanical systems considered in this study are modeled with two degrees of freedom, driven by only one actuator, and easily excited to oscillate. The proposed controller is designed by exploiting the passivity of the system. The energy storage function is constructed such that the control input is passive, with a combined output of actuated and unactuated variables. The target position of the closed-loop system is proven to be asymptotically stable using Lyapunov techniques and LaSalle's invariance theorem. The proposed control law has a simple structure and is independent of system parameters. Numerical simulations and experiments demonstrate the superior performance of the proposed control method over a number of traditional controllers as well as its robustness against parameter uncertainties. These advantages point to the promising practical application of the proposed control method in control-underactuated systems, such as overhead cranes, single-link flexible-joint manipulators, and flexible Cartesian manipulators.
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