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RISS 인기검색어
- 검색키워드
- 저자 : Hua-Hsu Chiu (검색결과 2 건)
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An improved backstepping design for the control of an underactuated inverted pendulum
Yu-Sheng Lu,Hua-Hsu Chiu,Shu-Fen Lien 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.3
This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system’s performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.
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Online payload estimation for the control of underactuated mechanical systems
Yu-Sheng Lu,Hua-Hsu Chiu 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.7
This paper presents a payload estimation scheme for underactuated robotic manipulators with passive joints that are not driven by actuators. In the proposed scheme, only the payload, which can be quite uncertain when a robot performs various tasks, is estimated, becausethe manipulator’s electrical and other mechanical parameters are generally known in advance. In comparison to other adaptiveschemes for underactuated robotic manipulators, the proposed scheme produces satisfactory transient performance and also reduces thecomputational burden in real-time implementation. The proposed estimation law is also based on the theory of Variable Structure Systems. In contrast to existing adaptation laws that have an integral form, the proposed law estimates uncertain payload using lowpass filteringof a switching signal that is always bounded, which avoids the parameter-drifting problem that is often encountered when using theprevious integral laws. Real-time experiments are conducted using an inverted pendulum and the experimental results demonstrate thefeasibility and effectiveness of the proposed scheme.
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