scholarly journals A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum

2012 ◽  
Author(s):  
S. Andary ◽  
A. Chemori ◽  
M. Benoit ◽  
J. Sallantin
Keyword(s):  
Inverted Pendulum ◽  
Mechanical Systems ◽  
Dual Model ◽  
Underactuated Mechanical Systems ◽  
Model Free ◽  
Model Free Control

Damping-Induced Self Recovery Phenomenon in Mechanical Systems With an Unactuated Cyclic Variable

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Dong Eui Chang ◽  
Soo Jeon
Keyword(s):  
Inverted Pendulum ◽  
Mechanical Systems ◽  
Conserved Quantity ◽  
The Self ◽  
Underactuated Mechanical Systems ◽  
Damping Force ◽  
Momentum Map ◽  
Time Integral ◽  
Conservation Of Momentum ◽  
Globally Attractive

Conservation of momentum is often used in controlling underactuated mechanical systems with symmetry. If a symmetry-breaking force is applied to the system, then the momentum is not conserved any longer in general. However, there exist forces linear in velocity such as the damping force that break the symmetry but induce a new conserved quantity in place of the original momentum map. This paper formalizes a new conserved quantity which can be constructed by combining the time integral of a general damping force and the original momentum map associated with the symmetry. From the perspective of stability theories, the new conserved quantity implies the corresponding variable possesses the self recovery phenomenon, i.e., it will be globally attractive to the initial condition of the variable. We discover that what is fundamental in the damping-induced self recovery is not the positivity of the damping coefficient but certain properties of the time integral of the damping force. The self recovery effect and theoretical findings are demonstrated by simulation results using the two-link planar manipulator and the torque-controlled inverted pendulum on a passive cart. The results in this paper will be useful in designing and controlling mechanical systems with underactuation.

Data-Driven Backstepping Control of Underactuated Mechanical Systems

2019 ◽  
Vol 141 (9) ◽  
Author(s):  
Jingwen Huang ◽  
Tingting Zhang ◽  
Jian-Qiao Sun
Keyword(s):  
Mechanical Systems ◽  
Linear Quadratic Regulator ◽  
Backstepping Control ◽  
Data Driven ◽  
Underactuated Mechanical Systems ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Whole Process ◽  
Model Free ◽  
Low Pass

This paper studies control problems of underactuated mechanical systems with model uncertainties. The control is designed with the method of backstepping. The first-order low-pass filters are used to estimate the unknown quantities and to avoid the “explosion of terms.” A novel method is also proposed to implement the control without the knowledge of the control coefficient, which makes the whole process of backstepping control data-driven. The stability of the proposed control in the Lyapunov sense is studied. It is numerically and experimentally validated, and compared with the well-known model-based linear quadratic regulator (LQR) control. The data-driven backstepping control is found to provide comparable performances to that of the LQR control with the advantage of being model-free and robust.

scholarly journals Author Correction: Reliance on model-based and model-free control in obesity

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Lieneke K. Janssen ◽  
Florian P. Mahner ◽  
Florian Schlagenhauf ◽  
Lorenz Deserno ◽  
Annette Horstmann
Keyword(s):  
Model Based ◽  
Model Free ◽  
Model Free Control

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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