TY  - JOUR
AU  - Zana, Roland Reginald
AU  - Zelei, Ambrus
TI  - Discrete Time Stability of Augmented Lagrangian Formalism based Underactuated Inverse Dynamics Control Method
JF  - JOURNAL OF VIBRATION AND CONTROL
J2  - J VIB CONTROL
VL  - 31
PY  - 2025
IS  - 19-20
SP  - 4445
EP  - 4468
PG  - 24
SN  - 1077-5463
DO  - 10.1177/10775463241280339
UR  - https://m2.mtmt.hu/api/publication/35186625
ID  - 35186625
N1  - First published online September 30, 2024
Funding Agency and Grant Number: Hungarian National Research, Development and Innovation Office [NKFI-FK18 128636]; Ministry of Culture and Innovation of Hungary from the National Research, Development and Innovation Fund [TKP-6-6/PALY-2021, TKP2021]
            Funding text: The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This research reported in this paper has been carried out at the Budapest University of Technology and Economics and at the Audi Hungaria Department of Whole Vehicle Engineering at Szechenyi Istvan University in Gyor and has been supported by the Hungarian National Research, Development and Innovation Office (Grant no. NKFI-FK18 128636) and by Project no. TKP-6-6/PALY-2021 provided by the Ministry of Culture and Innovation of Hungary from the National Research, Development and Innovation Fund, financed under the TKP2021-NVA funding scheme.
AB  - Stability problems of robotic systems arise sometimes suddenly, seemingly for no reason. The digital time sampling is often the main cause of these instabilities. Discrete models, which are capable of the prediction of stability, are available for low-degree-of-freedom template models of linear position and force control. However, for the inverse dynamics control of underactuated systems, the literature has a lack of generally applicable results related to the effect of time discretization. Several control approaches are available in the literature out of which a widely used one, the augmented Lagrangian formalism and its stability properties are analysed in this work. Theoretical stability properties are obtained for a generally usable, linear, underactuated, two-degree-of-freedom constrained template model. The actuator dynamics, the finite difference approximation of the feedback velocity and the filtering of the feedback data are considered in the model. These phenomena strongly affects the stability properties. The theoretically obtained stability maps are experimentally validated on an underactuated crane-like indoor robot. The position and orientation accuracy of the robot were assessed: the absolute position error was below 30 mm and the orientation error was below 3°. © The Author(s) 2024.
LA  - English
DB  - MTMT
ER  -