On the construction of a control over the translational motion by the rotation of an eccentric flywheel

1Khoroshun, AS
1S.P. Timoshenko Institute of Mechanics of the NAS of Ukraine, Kyiv
Dopov. Nac. akad. nauk Ukr. 2018, 3:53-58
https://doi.org/10.15407/dopovidi2018.03.053
Section: Mechanics
Language: Russian
Abstract: 

The underactuated mechanical system TORA is investigated. The explicit form of a control law for the eccentric flywheel rotation, which ensures the stabilization of the equilibrium position of TORA, is obtained.

Keywords: eccentric flywheel, equilibrium position, global asymptotic stability, underactuated mechanical system
References: 
  1. Liu, Y. & Yu, H. (2013). A survey of underactuated mechanical systems. IET Control Theory Appl., 7, Iss. 7., pp. 921-935. doi: https://doi.org/10.1049/iet-cta.2012.0505
  2. Khoroshun, A. S. (2016). Stabilization of the Upper Equilibrium Position of a Pendulum by Spinning an Inertial Flywheel. Int.Appl.Mech., 52, Iss. 5. pp. 547-556. doi: https://doi.org/10.1007/s10778-016-0775-1
  3. Yee, R. K. (1981) Spinup dynamics of a rotating system with limiting torque (unpublished master's thesis). Univ. California, Los Angeles, USA.
  4. Bupp, R. T., Bernstein, D. S. & Coppola, V. T. (1994) Vibration suppression of multi-modal translational motion using a rotational actuator. Proceedings of the 33rd IEEE Conference on Decision and Control, (pp. 4030-4034), Lake Buena Vista. doi: https://doi.org/10.1109/CDC.1994.411575
  5. Zhang, Y., Li, L., Cheng, B. & Zhang, X. An active mass damper using rotating actuator for structural vibration control. Advances in Mech. Eng., 8, Iss. 7, pp. 1-9. doi: https://doi.org/10.1177/1687814016657730
  6. Song, B. & Hedrick, J. K. (2011). Dynamic surface control of uncertain nonlinear systems. An LMI approach. London: Springer. doi: https://doi.org/10.1007/978-0-85729-632-0