dc.contributor.author | Herrera, Leonardo | |
dc.contributor.author | Orlov, Yury | |
dc.contributor.author | Montano, Oscar | |
dc.contributor.author | Shiriaev, Anton | |
dc.date.accessioned | 2019-12-03T09:34:41Z | |
dc.date.available | 2019-12-03T09:34:41Z | |
dc.date.created | 2019-04-15T09:51:49Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | International Journal of Control. 2019, 1-14. | nb_NO |
dc.identifier.issn | 0020-7179 | |
dc.identifier.uri | http://hdl.handle.net/11250/2631414 | |
dc.description.abstract | Robust 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.iso | eng | nb_NO |
dc.publisher | Taylor & Francis | nb_NO |
dc.title | Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 1-14 | nb_NO |
dc.source.journal | International Journal of Control | nb_NO |
dc.identifier.doi | 10.1080/00207179.2019.1569255 | |
dc.identifier.cristin | 1692579 | |
dc.relation.project | Norges forskningsråd: 262363 | nb_NO |
dc.description.localcode | Locked 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/10.1080/00207179.2019.1569255 | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |