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.
Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping
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Zhu, D., Zhou, D., Zhou, J., and Teo, K. L. (April 27, 2012). "Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping." ASME. J. Dyn. Sys., Meas., Control. July 2012; 134(4): 041007. https://doi.org/10.1115/1.4006073
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