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Stabilization of Internal Dynamics of Underactuated Systems by Periodic Servo-Constraints

Auteur(s):


Médium: article de revue
Langue(s): anglais
Publié dans: International Journal of Structural Stability and Dynamics, , n. 5, v. 17
Page(s): 1740004
DOI: 10.1142/s0219455417400041
Abstrait:

The model-based motion control of underactuated, multiple degree-of-freedom, complex multibody systems is in focus. Underactuated mechanical systems possess less number of independent control inputs than degrees-of-freedom. The main difficulty in their control is caused by the dynamics of the uncontrolled part of the system. The complexity of multibody systems makes the dynamical and control formulation difficult. The direct application of traditional control techniques available in the literature can lead to unstable dynamic behavior in many cases. In order to avoid instability, these general methods are usually adapted for specific problems in an intuitive way. Here, we present a direct, more algorithmic approach, and propose the use of periodic servo-constraints to overcome stability problems and enhance the dynamic behavior. An exact, stability analysis-based method is also proposed for tuning the control parameters. A stability analysis procedure is developed which is directly applicable for investigating the dynamics of mechanical systems described by dependent coordinates and mathematically formulated as a set of algebraic differential equations.

Structurae ne peut pas vous offrir cette publication en texte intégral pour l'instant. Le texte intégral est accessible chez l'éditeur. DOI: 10.1142/s0219455417400041.
  • Informations
    sur cette fiche
  • Reference-ID
    10352425
  • Publié(e) le:
    14.08.2019
  • Modifié(e) le:
    14.08.2019
 
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