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- W2359889586 abstract "A partially linearized model for underactuated Euler-Lagrangian systems was obtained based on the feedback linearization method.Then,the small deviation linearization technique was applied to the partially linearized model to obtain a linear model.For N underactuated Euler-Lagrangian systems whose above linearized models were completely controllable,a method to construct the synchronization error signals between the N systems was proposed to guarantee that an augmented system,which contained the original state variables of the N systems and the synchronization errors,was still completely controllable.For the augmented system an optimal synchronization controller was designed.A synchronous motion system composed of two single linear inverted pendulums was used to test the proposed method.The real-time control experimental results show that in the optimal synchronization control system a stable balance of the two inverted pendulums and a precise location of the two cars while they move synchronously have been realized.The effect of the optimal synchronization control scheme is better than the usual master-slave synchronization scheme." @default.
- W2359889586 created "2016-06-24" @default.
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- W2359889586 date "2009-01-01" @default.
- W2359889586 modified "2023-09-23" @default.
- W2359889586 title "Synchronization control for a class of underactuated Euler-Lagrangian systems" @default.
- W2359889586 hasPublicationYear "2009" @default.
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