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Control of a Class of Underactuated Systems by Successive Submanifold Stabilization

Beck, Fabian und Sakamoto, Noboru und Ott, Christian (2021) Control of a Class of Underactuated Systems by Successive Submanifold Stabilization. In: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021, 54 (19). IFAC Secretariat. 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021-10-11 - 2021-10-13, Berlin, Germany. doi: 10.1016/j.ifacol.2021.11.102. ISSN 2405-8963.

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Offizielle URL: https://www.sciencedirect.com/science/article/pii/S2405896321021261

Kurzfassung

Many control design methods for underactuated systems require solving a partial differential equation, which can be complex for systems with many degrees of freedom. In order to reduce the complexity, it is proposed to decompose the dynamics into several subsystems. The problem then reduces to the successive stabilization of the individual subsystems, i.e., each step is a submanifold stabilization problem of reduced dimension. In this way, control methods which are only practicable for lower dimensional systems can be applied to the overall complex dynamical system. To ensure that the subsystems can be stabilized independently, the dynamics are transformed by a change of coordinates to a form with block-diagonal inertia metric. For the unactuated part kinetic symmetries can be utilized, whereas for the actuated part null space projectors are employed to decouple the dynamics with respect to the inertia metric. The subsystems are then stabilized by optimal control or PD-like feedback. In the stability analysis semidefinite Lyapunov functions are employed. The procedure is demonstrated for a manipulator on an elastic base and validated in simulation.

elib-URL des Eintrags:https://elib.dlr.de/145893/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Control of a Class of Underactuated Systems by Successive Submanifold Stabilization
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Beck, FabianFabian.Beck (at) dlr.dehttps://orcid.org/0000-0003-3239-5505NICHT SPEZIFIZIERT
Sakamoto, NoboruNICHT SPEZIFIZIERThttps://orcid.org/0000-0002-4684-0297NICHT SPEZIFIZIERT
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493NICHT SPEZIFIZIERT
Datum:Oktober 2021
Erschienen in:7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:54
DOI:10.1016/j.ifacol.2021.11.102
Verlag:IFAC Secretariat
Name der Reihe:IFAC-PapersOnLine
ISSN:2405-8963
Status:veröffentlicht
Stichwörter:Hamiltonian dynamics, Robotics, Nonlinear control
Veranstaltungstitel:7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Veranstaltungsort:Berlin, Germany
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:11 Oktober 2021
Veranstaltungsende:13 Oktober 2021
Veranstalter :IFAC
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Laufroboter/Lokomotion [RO]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme
Hinterlegt von: Beck, Fabian
Hinterlegt am:19 Nov 2021 10:38
Letzte Änderung:24 Apr 2024 20:44

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