{"title":"基于可控拉格朗日量的欠驱动机械系统跟踪控制","authors":"Z. Liao, W. Huo","doi":"10.1109/ICIT.2012.6209951","DOIUrl":null,"url":null,"abstract":"Tracking control of the underactuated mechanical system is investigated in this paper. First the system is linearized at its equilibrium, then the controlled Lagrangian method is used for the linearized system to design its tracking controller. The matching conditions satisfied for the controller are derived. At last, as examples, 2-DOF Acrobot and Pendubot are studied. The matching conditions for the two robots are solved and associate controllers are obtained. The simulation results verify effectiveness of the proposed method.","PeriodicalId":365141,"journal":{"name":"2012 IEEE International Conference on Industrial Technology","volume":"11 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Tracking control of underactuated mechanical systems based on controlled lagrangians\",\"authors\":\"Z. Liao, W. Huo\",\"doi\":\"10.1109/ICIT.2012.6209951\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Tracking control of the underactuated mechanical system is investigated in this paper. First the system is linearized at its equilibrium, then the controlled Lagrangian method is used for the linearized system to design its tracking controller. The matching conditions satisfied for the controller are derived. At last, as examples, 2-DOF Acrobot and Pendubot are studied. The matching conditions for the two robots are solved and associate controllers are obtained. The simulation results verify effectiveness of the proposed method.\",\"PeriodicalId\":365141,\"journal\":{\"name\":\"2012 IEEE International Conference on Industrial Technology\",\"volume\":\"11 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Industrial Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIT.2012.6209951\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Industrial Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2012.6209951","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tracking control of underactuated mechanical systems based on controlled lagrangians
Tracking control of the underactuated mechanical system is investigated in this paper. First the system is linearized at its equilibrium, then the controlled Lagrangian method is used for the linearized system to design its tracking controller. The matching conditions satisfied for the controller are derived. At last, as examples, 2-DOF Acrobot and Pendubot are studied. The matching conditions for the two robots are solved and associate controllers are obtained. The simulation results verify effectiveness of the proposed method.
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