Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7108311 | Automatica | 2018 | 13 Pages |
Abstract
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which to date is open, arises when designing controllers to induce complex repetitive motions in robots. In this paper, we propose a solution which relies on the parameterization of the VHC by the output of a double integrator. While the original control inputs are used to enforce the VHC, the control input of the double-integrator is designed to asymptotically stabilize the closed orbit and make the state of the double-integrator converge to zero. The proposed design is applied to the problem of making a PVTOL aircraft follow a circle on the vertical plane with a desired speed profile, while guaranteeing that the aircraft does not roll over for suitable initial conditions.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Alireza Mohammadi, Manfredi Maggiore, Luca Consolini,