Naslov
Application of SSTT control algorithm for underactuated : surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum

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

Izvornik
Advanced robotics (0169-1864) 28 (2014), 8; 545-556

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

Ključne riječi
underactuated mechanical systems; sliding mode control; trajectory tracking; stabilization; pneumatic actuator

Sažetak
The paper deals with verifications and validation of the control algorithm for simultaneous stabilization and trajectory tracking (SSTT) of underactuated nonlinear mechanical systems (UNMS). A simplicity, universality and effectiveness of the control law are shown on simulations to the both multibody second order nonholonomic systems (a planar PPR manipulator and an inverted pendulum) and underactuated systems with forces/moments input coupling (a surface vessel). An experimental verification has been made on the novel pneumatically actuated slider-inverted pendulum with included friction effects. Also, an actuator compensator is constructed and implemented for this highly nonlinear experimental setup to avoid the increase of the system’s relative degree in the closed control loop, and to avoid the unnecessary time derivation of the system’s functions with non-differentiable Coulomb friction effects.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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