Show simple item record

dc.contributor.authorHerrera, Leonardo
dc.contributor.authorOrlov, Yury
dc.contributor.authorMontano, Oscar
dc.contributor.authorShiriaev, Anton
dc.date.accessioned2019-12-03T09:34:41Z
dc.date.available2019-12-03T09:34:41Z
dc.date.created2019-04-15T09:51:49Z
dc.date.issued2019
dc.identifier.citationInternational Journal of Control. 2019, 1-14.nb_NO
dc.identifier.issn0020-7179
dc.identifier.urihttp://hdl.handle.net/11250/2631414
dc.description.abstractRobust periodic motion generation is developed for a class of mechanical systems with actuator dynamics. The virtual constraint (VC) approach is first refined under incomplete state measurements and it is then extended to the case where the actuator dynamics are brought into play for avoiding limitations in the system performance. The extended VC approach is subsequently coupled to the nonlinear H∞ synthesis to yield the robust output feedback periodic motion generation for mechanical systems of underactuation degree one, driven by electrical motors with their own dynamics. The effectiveness of the proposed synthesis is supported in the numerical study made for a cart-pendulum testbed.nb_NO
dc.language.isoengnb_NO
dc.publisherTaylor & Francisnb_NO
dc.titleModel orbit output feedback tracking of underactuated mechanical systems with actuator dynamicsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber1-14nb_NO
dc.source.journalInternational Journal of Controlnb_NO
dc.identifier.doi10.1080/00207179.2019.1569255
dc.identifier.cristin1692579
dc.relation.projectNorges forskningsråd: 262363nb_NO
dc.description.localcodeLocked until 29.1.2020 due to copyright restrictions. This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Control on 29.1.2019, available at https://doi.org/10.1080/00207179.2019.1569255nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record