Affiliation:
1. Mechanical Engineering Department Imperial College London UK
Abstract
AbstractThis work investigates the energy shaping control of a class of underactuated mechanical systems with first‐order actuator dynamics and subject to both matched and unmatched constant additive disturbances. To this end, a new nonlinear control law which includes two independent integral actions is presented. The controller design is outlined for systems with first‐order actuator dynamics, and also for systems with direct actuation. The effectiveness of the proposed approach is demonstrated with numerical simulations on an inertia wheel pendulum and on a ball‐on‐beam system, both actuated by electric DC motors and subject to constant disturbances.
Funder
Engineering and Physical Sciences Research Council
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering
Cited by
4 articles.
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