Dynamics and Stable Control for a Class of Underactuated Mechanical Systems  

作　　者：LIU Dian-Tong GUO Wei-Ping YI Jian-Qiang 

机构地区：[1]Institute of Computer Science and Technology, Yantai University, Yantai 264005 [2]Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080

出　　处：《自动化学报》2006年第3期422-427,共6页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of P.R.China (60575047)

摘　　要：The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.

关 键 词：动态系统 稳定性控制 机械系统 起重机 

分 类 号：TH2[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]