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一类欠驱动机械系统的动态及其稳定控制

刘殿通,  郭卫平,  易建强

文章导航 > 自动化学报  > 2006 >  32(3): 422-427
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. 自动化学报, 2006, 32(3): 422-427.
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. 自动化学报, 2006, 32(3): 422-427.
shu
LIU Dian-Tong, GUO Wei-Ping, YI Jian-Qiang. Dynamics and Stable Control for a Class of Underactuated Mechanical Systems. ACTA AUTOMATICA SINICA, 2006, 32(3): 422-427.
Citation: LIU Dian-Tong, GUO Wei-Ping, YI Jian-Qiang. Dynamics and Stable Control for a Class of Underactuated Mechanical Systems. ACTA AUTOMATICA SINICA, 2006, 32(3): 422-427.
shu

一类欠驱动机械系统的动态及其稳定控制

  • 1.

    Institute of Computer Science and Technology, Yantai University, Yantai 264005;

  • 2.

    Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080

详细信息
    通讯作者:

    刘殿通

Dynamics and Stable Control for a Class of Underactuated Mechanical Systems

  • 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

More Information
    Corresponding author: LIU Dian-Tong

    摘要
  • 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.
    Abstract: 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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  • 收稿日期:  2005-03-10
  • 修回日期:  2005-12-19
  • 刊出日期:  2006-05-20

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