Regulation control of an underactuated mechanical system with discontinuous friction and backlash
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چکیده
منابع مشابه
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In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
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In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
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Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an indep...
متن کاملAnalysis and Control of Underactuated Mechanical Systems
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ژورنال
عنوان ژورنال: International Journal of Applied Mathematics and Computer Science
سال: 2017
ISSN: 2083-8492
DOI: 10.1515/amcs-2017-0055