2006•Acta Automatica SinicaRequires access

Dynamics and Stable Control for a Class of Underactuated Mechanical Systems

Liu Dian

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 underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.

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Key concepts: Underactuation, Overhead crane, Correctness, Control theory (sociology), Mechanical system, Double pendulum, Class (philosophy), Computer science