DocumentCode
2234021
Title
Tracking control of underactuated mechanical systems based on controlled lagrangians
Author
Liao, Zijun ; Huo, Wei
Author_Institution
Sci. & Technol. on Aircraft Control Lab., Beihang Univ., Beijing, China
fYear
2012
fDate
19-21 March 2012
Firstpage
278
Lastpage
283
Abstract
Tracking control of the underactuated mechanical system is investigated in this paper. First the system is linearized at its equilibrium, then the controlled Lagrangian method is used for the linearized system to design its tracking controller. The matching conditions satisfied for the controller are derived. At last, as examples, 2-DOF Acrobot and Pendubot are studied. The matching conditions for the two robots are solved and associate controllers are obtained. The simulation results verify effectiveness of the proposed method.
Keywords
robot dynamics; tracking; 2-DOF Acrobot; 2-DOF Pendubot; controlled Lagrangian method; linearized system; tracking controller; underactuated mechanical system; Fires;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology (ICIT), 2012 IEEE International Conference on
Conference_Location
Athens
Print_ISBN
978-1-4673-0340-8
Type
conf
DOI
10.1109/ICIT.2012.6209951
Filename
6209951
Link To Document