Please use this identifier to cite or link to this item: http://hdl.handle.net/1893/16539
Appears in Collections:Computing Science and Mathematics Journal Articles
Peer Review Status: Refereed
Title: Exponential stabilization of a class of underactuated mechanical systems using dynamic surface control
Authors: Qaiser, Nadeem
Iqbal, Naeem
Hussain, Amir
Qaiser, Naeem
Contact Email: amir.hussain@stir.ac.uk
Keywords: dynamic surface control
integrator backstepping
nonlinear control
underactuated mechanical systems
Issue Date: Oct-2007
Publisher: Institute of Control, Robotics and Systems Engineers
Citation: Qaiser N, Iqbal N, Hussain A & Qaiser N (2007) Exponential stabilization of a class of underactuated mechanical systems using dynamic surface control, International Journal of Control, Automation and Systems, 5 (5), pp. 547-558.
Abstract: This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.
Type: Journal Article
URI: http://hdl.handle.net/1893/16539
URL: http://www.ijcas.org/admin/paper/files/IJCAS_v5_n5_pp.547-558.pdf
Rights: The publisher does not allow this work to be made publicly available in this Repository. Please use the Request a Copy feature at the foot of the Repository record to request a copy directly from the author. You can only request a copy if you wish to use this work for your own research or private study.
Affiliation: Pakistan Institute of Engineering and Applied Sciences
Pakistan Institute of Engineering and Applied Sciences
Computing Science - CSM Dept
Pakistan Institute of Engineering and Applied Sciences

Files in This Item:
File Description SizeFormat 
IJCAS_v5_n5_pp.547-558.pdf195.83 kBAdobe PDFUnder Embargo until 31/12/2999     Request a copy

Note: If any of the files in this item are currently embargoed, you can request a copy directly from the author by clicking the padlock icon above. However, this facility is dependant on the depositor still being contactable at their original email address.

This item is protected by original copyright



Items in the Repository are protected by copyright, with all rights reserved, unless otherwise indicated.

If you believe that any material held in STORRE infringes copyright, please contact library@stir.ac.uk providing details and we will remove the Work from public display in STORRE and investigate your claim.