Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
707701 | European Journal of Control | 2013 | 7 Pages |
Abstract
A new approach to trajectory planning for underactuated mechanical systems is presented and discussed based on analysis of feasible behaviors of a standard 2-DOF benchmark example — the cart–pendulum system. Following the Controlled Lagrangians approach of Bloch et al. (2000) [7], we present and re-establish known conditions and forms of feedback control laws for this example, which are leading to an equivalent completely integrable closed-loop Euler–Lagrange system; and then extend them. As shown, full integrability and, in particular, the presence of a linear in velocities first integral of dynamics plays the key role in an elegant new procedure for trajectory planning.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Anton S. Shiriaev, Leonid B. Freidovich, Mark W. Spong,