Synchronization control for a class of underactuated mechanical systems via energy shaping
| dc.contributor.author | Zhu, D. | |
| dc.contributor.author | Zhou, D. | |
| dc.contributor.author | Zhou, Jingyang | |
| dc.contributor.author | Teo, Kok Lay | |
| dc.date.accessioned | 2017-01-30T11:27:02Z | |
| dc.date.available | 2017-01-30T11:27:02Z | |
| dc.date.created | 2013-03-20T20:00:49Z | |
| dc.date.issued | 2012 | |
| dc.identifier.citation | Zhu, Dongfang and Zhou, Di and Zhou, Jingyang and Teo, Kok Lay. 2012. Synchronization control for a class of underactuated mechanical systems via energy shaping. Journal of Dynamic System, Measurement and Control. 134 (4): pp. 041007/1-11. | |
| dc.identifier.uri | http://hdl.handle.net/20.500.11937/11816 | |
| dc.identifier.doi | 10.1115/1.4006073 | |
| dc.description.abstract |
A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method. | |
| dc.publisher | The American Society of Mechanical Engineers | |
| dc.title | Synchronization control for a class of underactuated mechanical systems via energy shaping | |
| dc.type | Journal Article | |
| dcterms.source.volume | 134 | |
| dcterms.source.issn | 00220434 | |
| dcterms.source.title | Journal of Dynamic Systems: Measurement and Control | |
| curtin.department | ||
| curtin.accessStatus | Fulltext not available |