Abstract
Recent investigations of underactuated systems have demonstrated the benefits of control inputs that are impulsive in nature. Here we consider the problem of stabilization of energy level sets of underactuated systems exploiting impulsive braking. We consider systems with one passive degree-of-freedom (DOF) and the energy level set is a manifold where the active coordinates are fixed and the mechanical energy equals some desired value. A control strategy comprised of continuous inputs and intermittent impulsive braking inputs is presented. The generality of the approach is shown through simulation of a three-DOF Tiptoebot; the feasibility of implementation of impulsive control using standard hardware is demonstrated using a rotary pendulum.
Recommended Citation
N. Kant et al., "Stabilization of Energy Level Sets of Underactuated Mechanical Systems Exploiting Impulsive Braking," Nonlinear Dynamics, vol. 106, no. 1, pp. 279 - 293, Springer, Sep 2021.
The definitive version is available at https://doi.org/10.1007/s11071-021-06831-3
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Energy level set; Impulsive dynamics; Underactuated mechanical systems
International Standard Serial Number (ISSN)
1573-269X; 0924-090X
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Springer, All rights reserved.
Publication Date
01 Sep 2021
Comments
National Science Foundation, Grant 1462118