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...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.展开更多
基金Supported by National Natural Science Foundation of P.R.China (60575047)
文摘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.