Full Content is available to subscribers

Subscribe/Learn More  >

Dynamic Servo Control for Underactuated Mechanical Systems

[+] Author Affiliations
Hongtai Cheng, Heping Chen

Texas State University San Marcos, San Marcos, TX

Xiaohua Zhang

Dalian University of Technology, Dalian, Liaoning, China

Hongjun Chen

Harbin Institute of Technology, Harbin, Heilongjiang, China

Paper No. IMECE2012-87659, pp. 315-320; 6 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME


Due to the lack of control inputs, the motion range and application areas of underactuated mechanical system are greatly limited. To overcome such difficulties, the arbitrary state point dynamic tracking problem named dynamical servo control is discussed in this paper. Considering simplicity and repeatability, periodic trajectory is the best way leading to the desired point. Virtual constraints concept is employed and a target oriented trajectory planning procedure is proposed, which can generate periodic dynamic compatible and desired point crossing trajectory. A Lyapunov based tracking controller is proposed to avoid the strict conditions for using a traditional LQR based method. Experiments are performed on an Acrobot prototype and verify the correctness of the proposed periodic trajectory generating method and the effectiveness of the tracking controller.

Copyright © 2012 by ASME
Topics: Servomechanisms



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In