MATLAB-based Tools for Modelling and Control of Underactuated Mechanical Systems

Authors

  • Slávka Jadlovská Faculty of Electrical Engineering and Informatics Technical University of Košice
  • Lukáš Koska Faculty of Electrical Engineering and Informatics Technical University of Košice
  • Matej Kentoš Faculty of Electrical Engineering and Informatics Technical University of Košice

DOI:

https://doi.org/10.14311/TEE.2017.3.056

Abstract

Underactuated systems, defined as nonlinear mechanical systems with fewer control inputs than degrees of freedom, appear in a broad range of applications including robotics, aerospace, marine and locomotive systems. Studying the complex low-order nonlinear dynamics of appropriate benchmark underactuated systems often enables us to gain insight into the principles of modelling and control of advanced, higher-order underactuated systems. Such benchmarks include the Acrobot, Pendubot and the reaction (inertia) wheel pendulum. The aim of this paper is to introduce novel MATLAB-based tools which were developed to provide complex software support for modelling and control of these three benchmark systems. The presented tools include a Simulink block library, a set of demo simulation schemes and several innovative functions for mathematical and simulation model generation.

Author Biographies

Slávka Jadlovská, Faculty of Electrical Engineering and Informatics Technical University of Košice

Department of Cybernetics and Artificial Intelligence

Lukáš Koska, Faculty of Electrical Engineering and Informatics Technical University of Košice

Department of Cybernetics and Artificial Intelligence

Matej Kentoš, Faculty of Electrical Engineering and Informatics Technical University of Košice

Department of Cybernetics and Artificial Intelligence

References

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Published

2020-03-30

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