Journal
INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS
Volume 17, Issue 5, Pages -Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
DOI: 10.1142/S0219455417400041
Keywords
Underactuated multibody systems; internal dynamics; servo-constraints; direct eigenvalue analysis; stabilization; switched control
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Funding
- MTA-BME Research Group on Dynamics of Machines and Vehicles
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The model-based motion control of underactuated, multiple degree-of-freedom, complex multibody systems is in focus. Underactuated mechanical systems possess less number of independent control inputs than degrees-of-freedom. The main difficulty in their control is caused by the dynamics of the uncontrolled part of the system. The complexity of multibody systems makes the dynamical and control formulation difficult. The direct application of traditional control techniques available in the literature can lead to unstable dynamic behavior in many cases. In order to avoid instability, these general methods are usually adapted for specific problems in an intuitive way. Here, we present a direct, more algorithmic approach, and propose the use of periodic servo-constraints to overcome stability problems and enhance the dynamic behavior. An exact, stability analysis-based method is also proposed for tuning the control parameters. A stability analysis procedure is developed which is directly applicable for investigating the dynamics of mechanical systems described by dependent coordinates and mathematically formulated as a set of algebraic differential equations.
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