シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2017/08
形態種別	学術論文
査読	査読あり
標題	Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms
執筆形態	共著
掲載誌名	Nonlinear Dynamics
掲載区分	国外
出版社・発行元	Spinger
巻・号・頁	89(3),pp.2241-2253
担当範囲	ALL
著者・共著者	Ancai Zhang, Xuzhi Lai, MinWu, and Jinhua She
概要	An underactuated mechanical system with n (n≥3) degree of freedoms (DOFs) is a complicated nonlinear system. This paper develops a new strategy to solve the nonlinear stabilizing control problem for this kind of mechanical systems. First, we introduce a coupled relationship between control torques. It changes the n-DOF underactuated system into a cascade-connected system, which has a 2-DOF driven subsystem and a (n−2)-DOF stable driving subsystem. And then, we analyze the passivity of the driven subsystem and discuss how to design an passivity-based controller that stabilizes the driven subsystem at the origin. Finally, the stabilization of the n-DOF underactuated system is achieved by the triangle lemma. Our proposed strategy transforms the stabilization of the n-DOF underactuated system into that of the 2-DOF driven subsystem. This makes the structure of the control system simple and also makes the problem of stabilizing a multi-DOF underactuated system easy to handle. As an application of the strategy, we give detailed statements of using it to achieve the global stabilization of a 3-DOF underactuated mechanical system called spring-coupled horizontal three-link underactuated manipulator. Simulation results demonstrate its validity.
外部リンクURL	https://link.springer.com/article/10.1007/s11071-017-3582-2