Model-Following Control of Nonlinear Systems Based on Virtual Constraints
نویسندگان
چکیده
In this study, we propose a nonlinear model-following control for underactuated systems. A model-following control design is based on the virtual constrains. The concept of virtual constraints control proposed by Shiriaev et. al. The model-following control is useful to realize the tracking system to a given reference model. In underactuated systems, a modelfollowing control for fullactuated systems cannot be not utilized because there are limitations of coordinate transformation such as exact linearization. Thus this study deals with underactuated mechanical nonlinear systems. The design strategy is explained by taking a cart-pendulum as an example for this study. A cart-pendulum is controlled so that a virtual spring-mass-damper property is implemented to a pendulum. Some numerical simulations are performed to verify the effectiveness of the proposed method.
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