abstract

• This paper addresses to the problem of suboptimal control for a class of chained underactuated mechanical systems, whose dynamic linearization contains uncontrollable stable modes. In order to bring the system to its linearity domain and stabilize it without need of a switching control, a suboptimal control technique is proposed, based on the energy of the system and under the Bellman%27s Optimality Principle. A non-conventional, pendular-type underactuated dynamic system exhibiting particular features is studied to illustrate the presented approach; the swing-up and stabilization control of this numerical system about an unstable equilibrium point is shown. © 2015 IEEE.
• This paper addresses to the problem of suboptimal control for a class of chained underactuated mechanical systems, whose dynamic linearization contains uncontrollable stable modes. In order to bring the system to its linearity domain and stabilize it without need of a switching control, a suboptimal control technique is proposed, based on the energy of the system and under the Bellman's Optimality Principle. A non-conventional, pendular-type underactuated dynamic system exhibiting particular features is studied to illustrate the presented approach; the swing-up and stabilization control of this numerical system about an unstable equilibrium point is shown. © 2015 IEEE.

authors

• García Barrientos Abel
• Ordaz Oliver J.P.
• Sánchez B.
• Vera E.

publication date

• 2015-01-01

published in

• 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2015  Proceedings

keywords

• energy-based control; Suboptimal control; uncontrollable linear form; underactuated mechanical systems Automation; Dynamics; Process control; Tabu search; Dynamic linearization; Energy-based control; Stabilization control; Suboptimal control; Suboptimal control techniques; Under-actuated mechanical systems; Underactuated dynamic systems; Unstable equilibrium points; Mechanics

Digital Object Identifier (DOI)

• 10.1109/ICEEE.2015.7357970

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