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Research Papers

Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping

[+] Author and Article Information
Dongfang Zhu

 Harbin Institute of Technology, Mailbox 327, Harbin 150001, China

Di Zhou

 Harbin Institute of Technology, Mailbox 327, Harbin 150001, Chinazhoud@hit.edu.cn

Jingyang Zhou, Kok Lay Teo

Department of Mathematics and Statistics,  Curtin University, Perth 6102, Australia

J. Dyn. Sys., Meas., Control 134(4), 041007 (Apr 27, 2012) (11 pages) doi:10.1115/1.4006073 History: Received March 03, 2011; Revised December 22, 2011; Published April 26, 2012; Online April 27, 2012

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.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

Experimental setup of two single-inverted pendulum equipments

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Figure 2

Rest-to-rest tracking responses and synchronization errors with the proposed synchronization controller

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Figure 3

Sine tracking responses and synchronization errors with the proposed synchronization controller

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Figure 4

Rest-to-rest tracking responses and synchronization errors with the synchronization method in Ref. [14]

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Figure 5

Sine tracking responses and synchronization errors with the synchronization method in Ref. [14]

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Figure 6

Rest-to-rest tracking responses and synchronization errors with two independent IDA-PBC laws

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Figure 7

Sine tracking responses and synchronization errors with two independent IDA-PBC laws

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Figure 8

Experimental results with the proposed synchronization controller under external disturbances

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Figure 9

Experimental results with the synchronization control method in Ref. [14] under external disturbances

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Figure 10

Experimental results with two independent IDA-PBC laws under external disturbances

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Figure 11

Four ball-beams’ sine tracking responses and synchronization errors with the proposed controller

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Figure 12

Four ball-beams’ sine tracking responses with independent IDA-PBC laws

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