Tracking control of an underactuated rigid body with a coupling input force

• Autorzy: Korczak S.

Identyfikatory

DOI

10.2478/acsc-2014-0019

• Języki publikacji: EN

Abstrakty

EN

This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.

Słowa kluczowe

EN

underactuated system; tracking; coupling forces; computed torque control

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2014
• Tom: Vol. 24, no. 3
• Strony: 321--332
• Opis fizyczny: Bibliogr. 13 poz., rys., tab.

Twórcy

autor

Korczak S.

• Department of Mechanics, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology

Bibliografia

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