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Tracking Control Design for Variable Mass and Configuration Robotic Systems

[+] Author Affiliations
Elżbieta Jarzębowska

Warsaw University of Technology, Warsaw, Poland

Paper No. DSCC2016-9688, pp. V002T29A002; 5 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


The paper addresses control of variable mass and configuration mechanical systems subjected to holonomic or nonholonomic constraints, which are imposed due to systems desired performance, tracking specified motions or other control needs. The control design is model-based and an analytical dynamics modeling framework underlying controller design is presented. The framework novelty is that constraints, including nonholonomic ones and these on variable mass, can be merged into variable mass system dynamics and final motion equations are free of the constraint reaction forces so they can be used directly to control design. Many mechanical systems change their mass or configuration when they move, e.g. inertia-based propelled underwater vehicles, mobile robots and manipulators transporting loads or space vehicles flying their space missions.

The dynamics modeling framework presented in the paper can be applied to all variable mass system examples mentioned above. An underwater inertia-based propelled vehicle model dynamics and control performance illustrate the theoretical development presented in the paper. The paper contribution is two folded. It presents a unified approach to constrained variable mass or configuration systems modeling and introduces analytical dynamics methods to the nonlinear control domain.

Copyright © 2016 by ASME



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