Bounded inputs total energy shaping for a class of underactuated mechanical systems
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5765
Abstract: Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme cases,… read more here.
Keywords: energy; system; mechanical systems; underactuated mechanical ... See more keywords
Smooth Higher-Order Sliding Mode Control of a Class of Underactuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2017 at "Arabian Journal for Science and Engineering"
DOI: 10.1007/s13369-017-2617-9
Abstract: This paper investigates the application of smooth higher-order sliding mode (HOSM) control to a class of underactuated mechanical systems. Underactuated mechanical systems have increasing practical importance, but their strong nonlinear behavior and increased vulnerability to… read more here.
Keywords: sliding mode; class; control; underactuated mechanical ... See more keywords
Generalized Swing-Up Control of Underactuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3138921
Abstract: Time-reversal symmetry, which is one of the main characteristics of mechanical systems without frictional forces, is applied to underactuated mechanical systems to generate desired trajectories for the generalized swing-up control. A novel necessary and sufficient… read more here.
Keywords: mechanical systems; generalized swing; underactuated mechanical; control underactuated ... See more keywords
A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2018.2797191
Abstract: Interconnection and damping assignment passivity-based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in the port-controlled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been… read more here.
Keywords: underactuated mechanical; mechanical systems; pbc approach; robust ida ... See more keywords
Novel Optimal Adaptive Robust Control for Fuzzy Underactuated Mechanical Systems: A Nash Game Approach
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Fuzzy Systems"
DOI: 10.1109/tfuzz.2020.3007452
Abstract: This article addresses the problems of the adaptive robust control design and the parameters optimization for a class of underactuated mechanical systems. We describe the uncertainty by using the fuzzy set theory to form the… read more here.
Keywords: robust control; nash game; control; underactuated mechanical ... See more keywords
Fuzzy-Based Controller Synthesis and Optimization for Underactuated Mechanical Systems With Nonholonomic Servo Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Fuzzy Systems"
DOI: 10.1109/tfuzz.2022.3143003
Abstract: This article investigates the trajectory tracking problem of underactuated mechanical systems (UMSs) with companion nonholonomic servo constraints and uncertainties. For such motion tasks, the existing approaches in the literature attempt unrealistically to furnish a reliable… read more here.
Keywords: mechanical systems; servo constraints; underactuated mechanical; controller synthesis ... See more keywords