Stabilization of energy level sets of underactuated mechanical systems exploiting impulsive braking
Stabilization of energy level sets of underactuated mechanical systems exploiting impulsive braking
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DOI：
10.1007/s11071-021-06831-3
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发表时间：
2021-05
影响因子：
5.6
通讯作者：
N. Kant;R. Mukherjee;H. Khalil
中科院分区：
文献类型：
--
作者：
N. Kant;R. Mukherjee;H. Khalil
最近对欠驱动系统的研究已经证明了脉冲控制输入的好处。本文研究了利用脉冲制动的欠驱动系统能级集的镇定问题。我们考虑具有一个被动自由度的系统，其能级集是一个流形，其中主动坐标是固定的，机械能等于某个期望值。提出了一种由连续输入和间歇脉冲制动输入组成的控制策略。通过对三自由度Tiptoebot的仿真，证明了该方法的通用性；用旋转摆验证了用标准硬件实现脉冲控制的可行性。
Recent investigations of underactuated systems have demonstrated the benefits of control inputs that are impulsive in nature. Here we consider the problem of stabilization of energy level sets of underactuated systems exploiting impulsive braking. We consider systems with one passive degree-of-freedom (DOF) and the energy level set is a manifold where the active coordinates are fixed and the mechanical energy equals some desired value. A control strategy comprised of continuous inputs and intermittent impulsive braking inputs is presented. The generality of the approach is shown through simulation of a three-DOF Tiptoebot; the feasibility of implementation of impulsive control using standard hardware is demonstrated using a rotary pendulum.