TY  - JOUR
AU  - Bodor, Bálint
AU  - Zelei, Ambrus
AU  - Bencsik, László
TI  - Predictive trajectory tracking algorithm of underactuated systems based on the calculus of variations
JF  - JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS
J2  - J COMPUT NONLIN DYN
VL  - 16
PY  - 2021
IS  - 8
PG  - 11
SN  - 1555-1415
DO  - 10.1115/1.4051168
UR  - https://m2.mtmt.hu/api/publication/31976021
ID  - 31976021
AB  - The tracking control of underactuated systems is a challenging problem due to the structural differences compared to fully actuated systems. Contrarily to fully actuated systems, resolving the inverse kinematics problem of underactuated systems is not possible independently from the dynamic equations. Instead, the inverse dynamics must be addressed. It is common to extend the computed torque control (CTC) technique with servoconstraints. Besides the CTC's clearness, the stability of the system cannot be always guaranteed. A novel predictive controller (PC) is presented in this paper. Our PC applies the variational principle to design the motion of the system in order to achieve a stable motion with the lowest possible tracking error. To demonstrate the applicability and the performance of the PC method, a numerical study is presented for a planar manipulator resulting in about 20% RMS error compared to the CTC method from the literature.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Bencsik, László
AU  - Kovács, László
AU  - Zelei, Ambrus
TI  - Stabilization of Internal Dynamics of Underactuated Systems by Periodic Servo-Constraints
JF  - INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS
J2  - INT J STRUCT STAB DY
VL  - 7
PY  - 2017
IS  - 5
PG  - 14
SN  - 0219-4554
DO  - 10.1142/S0219455417400041
UR  - https://m2.mtmt.hu/api/publication/3173068
ID  - 3173068
LA  - English
DB  - MTMT
ER  -