Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints
MacDonald, Dettwiler and Associates Ltd., Brampton.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
2016 (English)In: Journal of dynamical and control systems, ISSN 1079-2724, E-ISSN 1573-8698, Vol. 22, no 1, 129-168 p.Article in journal (Refereed) Published
Abstract [en]

This paper presents a unified geometric framework to input-output linearization of open-chain multi-body systems with symmetry in their reduced phase space. This leads us to an output tracking controller for a class of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints. We consider the systems with multi-degree-of-freedom joints and possibly with non-zero constant total momentum (in the holonomic case). The examples of these systems are free-base space manipulators and mobile manipulators. We first formalize the control problem, and rigorously state an output tracking problem for such systems. Then, we introduce a geometrical definition of the end-effector pose and velocity error. The main contribution of this paper is reported in Section 5, where we solve for the input-output linearization of the highly nonlinear problem of coupled manipulator and base dynamics subject to holonomic and nonholonomic constraints. This enables us to design a coordinate-independent controller, similar to a proportional-derivative with feed-forward, for concurrently controlling a free-base, multi-body system. Finally, by defining a Lyapunov function, we prove in Theorem 3 that the closed-loop system is exponentially stable. A detailed case study concludes this paper.

Place, publisher, year, edition, pages
2016. Vol. 22, no 1, 129-168 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-9649DOI: 10.1007/s10883-014-9266-zLocal ID: 8509d7ff-cf36-44eb-8247-5e2494da182dOAI: oai:DiVA.org:ltu-9649DiVA: diva2:982587
Note
Validerad; 2016; Nivå 2; 20150119 (andbra)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-21Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Emami, Reza
By organisation
Space Technology
In the same journal
Journal of dynamical and control systems
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 17 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf