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Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints
Su, Tingting1,2; Liang, Xu2; He, Guangping1; Jia, Taoming1; Zhao, Quanliang1; Zhao, Lei1
Source PublicationAPPLIED SCIENCES-BASEL
2019-10-01
Volume9Issue:20Pages:20
Abstract

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.

Keyworddynamics modeling orbital stability robots switching control variant constraints
DOI10.3390/app9204235
WOS KeywordEXPONENTIAL STABILIZATION ; BIPED ROBOTS ; STABILITY
Indexed BySCI
Language英语
Funding ProjectOpen Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] ; Nature Science Foundation of Beijing[3194047] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[L172001] ; National Nature Science Foundation of China[51775002] ; 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 Research AreaChemistry ; Materials Science ; Physics
WOS SubjectChemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS IDWOS:000496269400038
PublisherMDPI
Sub direction classification智能控制
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/28907
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorHe, Guangping
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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