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Periodic motion planning and control for underactuated mechanical systems
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2018 (English)In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 91, no 6, p. 1350-1362Article in journal (Refereed) Published
Abstract [en]

We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A novel periodic motion planning method is proposed. Each state is parametrised by a truncated Fourier series. Then we use numerical optimisation to search for the parameters of the trigonometric polynomial exploiting the measure of discrepancy in satisfying the passive dynamics equations as a performance index. Thus an almost feasible periodic motion is found. Then a linear controller is designed and stability analysis is given to verify that solutions of the closed-loop system stay inside a tube around the planned approximately feasible periodic trajectory. Experimental results for a double rotary pendulum are shown, while numerical simulations are given for models of a spacecraft with liquid sloshing and of a chain of mass spring system.

Place, publisher, year, edition, pages
2018. Vol. 91, no 6, p. 1350-1362
Keywords [en]
Periodic motion planning, underactuated mechanical systems, nonlinear systems, robotics, linear riodic systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-147486DOI: 10.1080/00207179.2017.1314022ISI: 000430094800011OAI: oai:DiVA.org:umu-147486DiVA, id: diva2:1204238
Available from: 2018-05-07 Created: 2018-05-07 Last updated: 2018-06-09Bibliographically approved

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Freidovich, Leonid B.

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  • apa
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  • de-DE
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  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf