自动化学报
自動化學報
자동화학보
ACTA AUTOMATICA SINICA
2006年
3期
422-427
,共6页
刘殿通%郭卫平%易建强
劉殿通%郭衛平%易建彊
류전통%곽위평%역건강
Underactuated systems%system dynamics%stable control%pendulum%overhead crane
Abstract The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an unde ractuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
