Control of nonlinear mechanical systems

被引：10

作者：

Fantoni, I ^{[1
]}

Lozano, R ^{[1
]}

机构：

[1] Univ Technol Compiegne, Heudiasyc UMR CNRS 6599, F-60205 Compiegne, France

来源：

EUROPEAN JOURNAL OF CONTROL | 2001年 / 7卷 / 2-3期

关键词：

aerospace systems; dissipative and energy-based design; Lyapunov design; mechatronic systems; stabilization of nonlinear systems;

D O I：

10.3166/ejc.7.328-347

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control design methods for some underactuated mechanical systems are presented. A first control algorithm is based on the energy of the system and its passivity properties. It has been applied on the reaction wheel pendulum and on a convey-crane system. Then, a smooth control Lyapunov function for the planar vertical take-off and landing (PVTOL) aircraft is proposed. Its construction relies on the nonlinear stabilization technique called forwarding. The PVTOL aircraft model represents a particular example which illustrates well "Lyapunov forwarding" technique.

引用

页码：328 / 348

页数：21

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