NDLI: Can the energy and actuated variables of underactuated mechanical systems be controlled? -Example of the Acrobot with counterweight

Content Provider	IEEE Xplore Digital Library
Author	Xin Xin Lei Guo
Copyright Year	2009
Description	Author affiliation: School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China (Lei Guo) \|\| Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, 719-1197, Japan (Xin Xin)
Abstract	The energy-based control approach aiming to control the total mechanical energy and actuated variables of underactuated mechanical systems has generated renewed interests in studying these systems. Successful applications of the approach to the swing-up control for the Acrobot (2-link planar robot with passive first joint), the Pendubot (2-link planar robot with passive second joint), and an n-link revolute planar robot with a passive joint robot, have been reported. This paper investigates whether the objective of controlling the energy and actuated variables to some given desired values can be achieved for any underactuated mechanical system. We aim to answer this question by studying the problem of swinging up a modified Acrobot, which has a counterweight connected to its first link and is called CWA (Counter-Weighted Acrobot) below. By analyzing globally the behavior of the solution of the closed-loop system consisted of the CWA and the controller designed via the energy-based control approach, we show that unless the mechanical parameters of the CWA satisfying a constraint, the swing-up controller fails to achieve the goal of stabilizing the energy to the potential energy at the upright position and stabilizing the actuated joint variable to zero. Numerical simulation results are provided to validate the theoretical results.
Starting Page	1962
Ending Page	1967
File Size	913849
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechanical systems Mechanical variables control Control systems Robot kinematics Mechanical energy Potential energy Numerical simulation Shape control Equations Failure analysis
Content Type	Text
Resource Type	Article

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