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Pregled bibliografske jedinice broj: 537574

Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

Žilić, Tihomir; Kasać, Josip; Šitum, Željko; Essert, Mario
Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics // Multibody system dynamics, 29 (2013), 1; 1-19 doi:10.1007/s11044-012-9303-1 (međunarodna recenzija, članak, znanstveni)

CROSBI ID: 537574 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

Autori
Žilić, Tihomir ; Kasać, Josip ; Šitum, Željko ; Essert, Mario

Izvornik
Multibody system dynamics (1384-5640) 29 (2013), 1; 1-19

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
underactuated nonlinear mechanical systems; sliding mode control; trajectory tracking; stabilization; actuators dynamics

Sažetak
The paper deals with a novel control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with included actuators dynamics. Simultaneous stabilization and trajectory tracking refer to arbitrary chosen actuated and unactuated degrees of freedom (DOF) of the system. The proposed control approach can be applied both to the second order nonholonomic systems and the systems with input coupling, while a general model of actuators dynamics includes electrical, pneumatic and hydraulic drives. Control law is based on linear combination of two control signals, where first signal is designed to separately control only actuated DOF and second to separately control only unactuated DOF. Simulation example is illustrated by rotational inverted pendulum driven by electrical DC motor, showing the effectiveness of the proposed approach.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo



POVEZANOST RADA

Projekti:
120-1201842-1839 - Optimalno upravljanje energijom u fluidnoj tehnici i elektromehaničkim sustavima (Šitum, Željko, MZOS ) ( CroRIS)
120-1201842-3048 - Umjetna inteligencija u upravljanju složenim nelinearnim dinamičkim sustavima (Kasać, Josip) ( CroRIS)

Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb

Profili:

Avatar Url Tihomir Žilić (autor)

Avatar Url Josip Kasać (autor)

Avatar Url Željko Šitum (autor)

Avatar Url Mario Essert (autor)

Poveznice na cjeloviti tekst rada:

doi link.springer.com

Citiraj ovu publikaciju:

Žilić, Tihomir; Kasać, Josip; Šitum, Željko; Essert, Mario
Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics // Multibody system dynamics, 29 (2013), 1; 1-19 doi:10.1007/s11044-012-9303-1 (međunarodna recenzija, članak, znanstveni)
Žilić, T., Kasać, J., Šitum, Ž. & Essert, M. (2013) Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics. Multibody system dynamics, 29 (1), 1-19 doi:10.1007/s11044-012-9303-1.
@article{article, author = {\v{Z}ili\'{c}, Tihomir and Kasa\'{c}, Josip and \v{S}itum, \v{Z}eljko and Essert, Mario}, year = {2013}, pages = {1-19}, DOI = {10.1007/s11044-012-9303-1}, keywords = {underactuated nonlinear mechanical systems, sliding mode control, trajectory tracking, stabilization, actuators dynamics}, journal = {Multibody system dynamics}, doi = {10.1007/s11044-012-9303-1}, volume = {29}, number = {1}, issn = {1384-5640}, title = {Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics}, keyword = {underactuated nonlinear mechanical systems, sliding mode control, trajectory tracking, stabilization, actuators dynamics} }
@article{article, author = {\v{Z}ili\'{c}, Tihomir and Kasa\'{c}, Josip and \v{S}itum, \v{Z}eljko and Essert, Mario}, year = {2013}, pages = {1-19}, DOI = {10.1007/s11044-012-9303-1}, keywords = {underactuated nonlinear mechanical systems, sliding mode control, trajectory tracking, stabilization, actuators dynamics}, journal = {Multibody system dynamics}, doi = {10.1007/s11044-012-9303-1}, volume = {29}, number = {1}, issn = {1384-5640}, title = {Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics}, keyword = {underactuated nonlinear mechanical systems, sliding mode control, trajectory tracking, stabilization, actuators dynamics} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus

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