Vibrational Control of an Underactuated Mechanical System : Control Design Using the Averaging Method

불충분한 작동기를 가진 기계시스템의 진동적제어: 평균화기법을 통한 제어 설계

An open loop vibrational control of underactuated mechanical system with amplitude and frequency modulations is investigated. The underactuated systems sonsidered in the paper are assumed to have free joints with no brake. The active joints are positioned first by a linearizing control, and then periodic oscillatory input are applied to them to move the remaining free joints to their desired states. A systematic way of obtaining averaged systems for the underactuated systems with oscillatory vibration is developed. A complete solution to the open loop control strateegy in terms of determining amplitudes and frequencies for general system is still under investigation. However, a specific control design for 2R manipulator which is obtained through the averaged system is demonstrated.