Cascade delayed controller design for a class of underactuated systems
Summary: In this paper, a delayed control strategy for a class of nonlinear underactuated fourth-order systems is developed. The proposal is based on the implementation of the tangent linearization technique, differential flatness, and a study of the \(\sigma\)-stabilization of the characteristic equation of the closed-loop system. The tangent linearization technique allows obtaining a local controllability property for the analyzed class of systems. Also, it can reduce the complexity of the global control design, through the use of a cascade connection of two second-order controllers instead of designing a global controller of the fourth-order system. The stabilizing behavior of the delayed controller design is supported by the \(\sigma\)-stability criterion, which provides the controller parameter selection to reach the maximum exponential decay rate on the system response. To illustrate the efficiency of the theoretical results, the proposal is experimentally assessed in two cases of study: a flexible joint system and a pendubot.
- Proportional retarded controller to stabilize underactuated systems with measurement delays: Furuta pendulum case study
- Sliding mode control of a class of underactuated systems
- Stabilization of underactuated mechanical systems: A non-regular back-stepping approach
- Delayed controllers for time-delay systems
- Dynamics and control of a class of underactuated mechanical systems
- \(D\)-decomposition technique state-of-the-art
- \(D\)-partition and robust stability
- Analysis and control of nonlinear systems. A flatness-based approach
- Continuous Sliding Mode Control Strategy for a Class of Nonlinear Underactuated Systems
- Controlling the inverted pendulum by means of a nested saturation function
- Design of Proportional-Integral-Retarded (PIR) Controllers for Second-Order LTI Systems
- Differentially flat systems.
- Dynamics and control of a class of underactuated mechanical systems
- Energy based control of the Pendubot
- Flatness and defect of non-linear systems: introductory theory and examples
- Global stabilization of oscillators with bounded delayed input
- Lyapunov-based controller for the inverted pendulum cart system
- Nonlinear control of the reaction wheel pendulum
- Normal forms for underactuated mechanical systems with symmetry
- On stability crossing curves for general systems with two delays
- Sliding mode control of a class of underactuated systems
- Some insights into the migration of double imaginary roots under small deviation of two parameters
- Stability regions in the parameter space: \(D\)-decomposition revisited
- Stabilizing a Chain of Integrators Using Multiple Delays
- Static output feedback stabilization: necessary conditions for multiple delay controllers
- The \(D\)-decomposition theory
- “Delay Scheduling”: A New Concept for Stabilization in Multiple Delay Systems
- 𝐷-decomposition of the space of quasi-polynomials (On the stability of linearized distributive systems)
This page was built for publication: Cascade delayed controller design for a class of underactuated systems
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2205925)
