Adaptive tracking control for underactuated mechanical systems with relative degree two
| Autor: | Manuel Gnucci, Riccardo Marino |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Adaptive control Settore ING-INF/04 Degree (graph theory) Underactuated mechanical systems Computer science Underactuation 020208 electrical & electronic engineering Control (management) 02 engineering and technology Torso 020901 industrial engineering & automation medicine.anatomical_structure Virtual holonomic constraints Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Key (cryptography) medicine Robot Electrical and Electronic Engineering Adaptation (computer science) |
| Popis: | The adaptive tracking state-feedback control for underactuated mechanical systems with outputs characterized by global relative degree equal to two is addressed. A new control technique called virtual control is proposed. Fictitious control inputs and outputs are introduced to achieve full actuation : the key step is to find the reference signals for the fictitious outputs so that the resulting virtual adaptive controls are zero. The adaptive control of an underactuated three-link walking robot with unknown torso mass is designed according to the proposed control strategy. Simulations show that adaptation is crucial for stable walking. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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