DocumentCode
2152312
Title
Energy-Based Control for a Class of Under-Actuated Mechanical Systems
Author
Dong, Yunyun ; Wang, Zhonghua ; Feng, Zhiquan ; Wang, Dongxue ; Fang, Hui
Volume
3
fYear
2008
fDate
27-30 May 2008
Firstpage
139
Lastpage
143
Abstract
In this paper we discuss an energy-based control method for a class of under-actuated mechanical systems. The control law is proposed and the convergence analysis is carried out based on Lyapunov stability theory. The conditions on the parameters in the control law such that the total energy of the controlled objects converge to the potential energy of their desired position are given. Under such convergence of the energy, simulation results are presented showing the performance of the systems.
Keywords
Actuators; Control systems; Convergence; Design methodology; Lyapunov method; Mechanical systems; Potential energy; Power engineering and energy; Robust stability; Stability analysis; Pendubot; toverhead crane; under-actuated mechanical system;
fLanguage
English
Publisher
ieee
Conference_Titel
Image and Signal Processing, 2008. CISP '08. Congress on
Conference_Location
Sanya, China
Print_ISBN
978-0-7695-3119-9
Type
conf
DOI
10.1109/CISP.2008.304
Filename
4566461
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