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Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints

文献类型：期刊论文

作者Su, Tingting1,2; Liang, Xu2; He, Guangping1; Jia, Taoming1; Zhao, Quanliang1; Zhao, Lei1
刊名APPLIED SCIENCES-BASEL
出版日期2019-10-01
卷号9期号:20页码:20
关键词dynamics modeling orbital stability robots switching control variant constraints
DOI10.3390/app9204235
通讯作者He, Guangping(hegp55@ncut.edu.cn)
英文摘要Locomotion systems with variant constraints are familiar in real world applications, but the dynamics and control issues of variant constraint systems have not been sufficiently discussed to date. From the viewpoint of Lagrange-d'Alembert equations with additional variable constraints, this paper investigates the modeling approaches of a class of hybrid dynamical systems (HDS) with instantaneously variant constraints and the switching control techniques of stabilizing the HDS to given periodic orbits. It is shown that under certain conditions there possibly exist zero impact periodic orbits in the HDS, and the HDS can be stabilized to the period-one orbits by a linear controller with only partial state feedback, even though the HDS are generally underactuated nonholonomic systems. As an example, a one-legged planar hopping robot is employed to demonstrate the main results of modeling and control of a class of HDS.
WOS关键词EXPONENTIAL STABILIZATION ; BIPED ROBOTS ; STABILITY
资助项目National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101]
WOS研究方向Chemistry ; Materials Science ; Physics
语种英语
WOS记录号WOS:000496269400038
出版者MDPI
资助机构National Nature Science Foundation of China ; Nature Science Foundation of Beijing ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems
源URL[http://ir.ia.ac.cn/handle/173211/28906]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者He, Guangping
作者单位1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Su, Tingting,Liang, Xu,He, Guangping,et al. Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints[J]. APPLIED SCIENCES-BASEL,2019,9(20):20.
APA Su, Tingting,Liang, Xu,He, Guangping,Jia, Taoming,Zhao, Quanliang,&Zhao, Lei.(2019).Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints.APPLIED SCIENCES-BASEL,9(20),20.
MLA Su, Tingting,et al."Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints".APPLIED SCIENCES-BASEL 9.20(2019):20.

入库方式： OAI收割

来源：自动化研究所

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