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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 | |
发表期刊 | APPLIED SCIENCES-BASEL |
2019-10-01 | |
卷号 | 9期号:20页码:20 |
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. |
关键词 | dynamics modeling orbital stability robots switching control variant constraints |
DOI | 10.3390/app9204235 |
关键词[WOS] | EXPONENTIAL STABILIZATION ; BIPED ROBOTS ; STABILITY |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Open 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研究方向 | Chemistry ; Materials Science ; Physics |
WOS类目 | Chemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied |
WOS记录号 | WOS:000496269400038 |
出版者 | MDPI |
七大方向——子方向分类 | 智能控制 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/28907 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
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 |
第一作者单位 | 中国科学院自动化研究所 |
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. |
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Dynamics and Switchi(1188KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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