Periodic motion planning and control for underactuated mechanical systems
2018 (engelsk)Inngår i: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 91, nr 6, s. 1350-1362Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]
We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A novel periodic motion planning method is proposed. Each state is parametrised by a truncated Fourier series. Then we use numerical optimisation to search for the parameters of the trigonometric polynomial exploiting the measure of discrepancy in satisfying the passive dynamics equations as a performance index. Thus an almost feasible periodic motion is found. Then a linear controller is designed and stability analysis is given to verify that solutions of the closed-loop system stay inside a tube around the planned approximately feasible periodic trajectory. Experimental results for a double rotary pendulum are shown, while numerical simulations are given for models of a spacecraft with liquid sloshing and of a chain of mass spring system.
sted, utgiver, år, opplag, sider
2018. Vol. 91, nr 6, s. 1350-1362
Emneord [en]
Periodic motion planning, underactuated mechanical systems, nonlinear systems, robotics, linear riodic systems
HSV kategori
Identifikatorer
URN: urn:nbn:se:umu:diva-138622DOI: 10.1080/00207179.2017.1314022ISI: 000430094800011OAI: oai:DiVA.org:umu-138622DiVA, id: diva2:1467
2018-05-222018-05-222018-05-22bibliografisk kontrollert