Abstract
AbstractA methodology for asymptotic orbital synchronization of a set of homogeneous mechanical systems with one degree of underactuation is proposed. A reference model generating a reference orbit is first constructed under the virtual holonomic constraints approach. Then, the synthesis is designed to, first, estimate the state vector of the homogeneous systems, provided that only position measurements are available, and second, to drive the state of the systems to that of the reference model. Due to the synthesis properties, the homogeneous systems converge asymptotically to the reference orbit when there are no disturbances affecting the systems nor the measurements. When disturbances are present, robustness is guaranteed provided that the gain of the closed‐loop systems remains lower than an attenuation level . Numerical results for a set of underactuated cart‐pendulums corroborate the proposed methodology.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Robust and Nonlinear Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
