Synchronization control for a class of underactuated mechanical systems via energy shaping
A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
The American Society of Mechanical Engineers
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/11816 |
| _version_ | 1848747906894397440 |
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| author | Zhu, D. Zhou, D. Zhou, Jingyang Teo, Kok Lay |
| author_facet | Zhu, D. Zhou, D. Zhou, Jingyang Teo, Kok Lay |
| author_sort | Zhu, D. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method. |
| first_indexed | 2025-11-14T06:56:36Z |
| format | Journal Article |
| id | curtin-20.500.11937-11816 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:56:36Z |
| publishDate | 2012 |
| publisher | The American Society of Mechanical Engineers |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-118162017-09-13T14:59:50Z Synchronization control for a class of underactuated mechanical systems via energy shaping Zhu, D. Zhou, D. Zhou, Jingyang Teo, Kok Lay A synchronization control strategy for a class of underactuated mechanical systems is proposed by using the energy shaping technique, aiming to achieve the required performance of the synchronization motion. A synchronization controller is designed based on the interconnection and damping assignment passivity-based control methodology. It will guarantee that the position tracking errors and the synchronization errors of the underactuated mechanical systems are to converge to zero asymptotically. Experiments on a synchronization control system with two single-inverted pendulums as well as simulations of a synchronization control system consisting of four ball-beam devices are presented to demonstrate the effectiveness of the proposed method. 2012 Journal Article http://hdl.handle.net/20.500.11937/11816 10.1115/1.4006073 The American Society of Mechanical Engineers restricted |
| spellingShingle | Zhu, D. Zhou, D. Zhou, Jingyang Teo, Kok Lay Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title | Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title_full | Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title_fullStr | Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title_full_unstemmed | Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title_short | Synchronization control for a class of underactuated mechanical systems via energy shaping |
| title_sort | synchronization control for a class of underactuated mechanical systems via energy shaping |
| url | http://hdl.handle.net/20.500.11937/11816 |