Control of Underactuated Mechanical Systems

9402229 Spong在本研究项目中，研究了与欠驱动机械系统鲁棒和自适应控制律的设计、分析和实时实现相关的基本问题。这类系统相当广泛，包括平衡和行走机器人，各种柔性结构，包括柔性连杆和柔性关节机器人，以及包括执行器动力学的机器人模型，以及许多经典的控制问题，如球和梁，和推车杆系统。研究工作的综合主题是利用积分器反推法设计欠驱动系统。目前，强大的设计技术，如反馈线性化，奇异摄动和基于被动的方法，可用于完全驱动系统。这些技术被扩展为适用于欠驱动系统。＊＊＊

9402229 Spong In this research project, fundamental issues related to the design, analysis, and real-time implementation of robust and adaptive control laws for underactuated mechanical systems are investigated. The class of systems is quite broad and encompasses balancing and walking robots, a variety of flexible structures including flexible link and flexible joint robots, as well as robot models that include actuator dynamics, and many of the classical control problems such as ball and beam, and cart-pole systems. The integrating theme of the research effort is the utilization of the integrator backstepping method for the design of underactuated systems. Currently, powerful design techniques, such as feedback linearization, singular perturbations, and passivity based methods, are available for fully actuated systems. These techniques are extended for their applicability to underactuated systems. ***