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Modelling and control of a underactuated sphere and beam system

✍ Scribed by Andrzej Burghardt; Józef Giergiel

Publisher
Elsevier Science
Year
2011
Tongue
English
Weight
393 KB
Volume
16
Category
Article
ISSN
1007-5704

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✦ Synopsis

The article presents the modelling of a sphere and beam system by using the II type of Lagrange's equation. An adaptive control system synthesis was carried out according to Lapunov's stability theory. The solution acquired was simulated in Matlab/Simulink programme environments and verified in reality.

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We study a control problem for a special class of underactuated mechanical systems, namely for mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Speci"c assumptions are introduced that d