自动化学报2006，Vol.32Issue(3)：422-427,6.
一类欠驱动机械系统的动态及其稳定控制
Dynamics and Stable Control for a Class of Underactuated Mechanical Systems
摘要
Abstract
Abstract 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 unde ractuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.关键词
Underactuated systems/system dynamics/stable control/pendulum/overhead craneKey words
Underactuated systems/system dynamics/stable control/pendulum/overhead crane分类
信息技术与安全科学引用本文复制引用
刘殿通,郭卫平,易建强..一类欠驱动机械系统的动态及其稳定控制[J].自动化学报,2006,32(3):422-427,6.基金项目
Supported by National Natural Science Foundation of P. R. China (60575047) （60575047）
