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Articles

Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics

ORCID Icon, ORCID Icon, &
Pages 293-306 | Received 28 Feb 2018, Accepted 08 Jan 2019, Published online: 29 Jan 2019
 

ABSTRACT

Robust periodic motion generation is developed for a class of mechanical systems with actuator dynamics. The virtual constraint (VC) approach is first refined under incomplete state measurements and it is then extended to the case where the actuator dynamics are brought into play for avoiding limitations in the system performance. The extended VC approach is subsequently coupled to the nonlinear H synthesis to yield the robust output feedback periodic motion generation for mechanical systems of underactuation degree one, driven by electrical motors with their own dynamics. The effectiveness of the proposed synthesis is supported in the numerical study made for a cart-pendulum testbed.

Disclosure statement

No potential conflict of interest was reported by the authors.

Notes

1 The existence of such solutions is well-known (Orlov & Aguilar, Citation2014) to ensure the local controllability and observability of the error system in question.

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