Control problems in super-articulated mechanical systems
- 1 December 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 39 (12) , 2442-2453
- https://doi.org/10.1109/9.362851
Abstract
Control of super-articulated mechanical systems (SAMS: controlled mechanical system in which the dimension of the configuration space exceeds the dimension of the control input space) is studied. As a starting point, a graphical characterization of general SAMS is developed in which a so-called control flow diagram (CFD) is constructed to represent the interaction forces among the degrees of freedom of the system; three types of structure, namely, the chain structure, the tree structure and isolated points, are identified; degree of complexity of the system is defined based on the structure of the system. A systematic backstepping type controller design is proposed for systems with a chain structure to achieve global asymptotic stability and trajectory tracking. Such a controller design itself illustrates the sufficient conditions for the existence of smooth feedback control such that the systems with a chain structure can be globally asymptotically stabilized. The connection of the authors' control algorithm with existing results is discussed.<>Keywords
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