Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model

© 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license

Detalles Bibliográficos
Autores: García-Agúndez Blanco, Alfonso, Saccon, A., García Vallejo, Daniel, Freire Macías, Emilio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/163580
Acceso en línea:https://hdl.handle.net/11441/163580
https://doi.org/10.1016/j.mechmachtheory.2024.105795
Access Level:acceso abierto
Palabra clave:Ball-plate system
Linearization
Multibody dynamics
Nonholonomic system
Trajectory tracking
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spelling Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody modelGarcía-Agúndez Blanco, AlfonsoSaccon, A.García Vallejo, DanielFreire Macías, EmilioBall-plate systemLinearizationMultibody dynamicsNonholonomic systemTrajectory tracking© 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND licenseThis paper addresses the optimal control of the ball-plate system, a well-known nonholonomic system in the context of nonprehensile manipulation, using a multibody dynamics approach. The trajectory tracking control of a steady-state circular motion of the ball on the plate, for any radius and potentially off-centric with respect to the plate's pivoting point, is achieved by designing a Linear-Quadratic Regulator. A spatial multibody model of the ball-plate system is considered. A key contribution is the analytical computation of the circular steady motion of the ball by dynamic inversion, including the control actions to achieve this reference solution. This enables the analytical computation of the linearized equations along this reference motion, resulting in a periodic linear time-varying (LTV) system, and the application of linear controllability criteria for LTV systems. A controllable linear system, involving the Cartesian coordinates of the contact point and the yaw angle of the sphere, is obtained using a convenient coordinate partition in the linearization. Compared to existing results on the same problem, closed-loop stability about the desired trajectory is achieved for any radius of the circular trajectory. © 2024 The AuthorsMinisterio de Ciencia, Innovación y Universidades FPU18/05598Junta de Andalucía US-1380740ElsevierMatemática Aplicada IIIngeniería Mecánica y FabricaciónTEP111: Ingenieria MecanicaTIC-130: Investigación en Sistemas Dinámicos en IngenieríaMinisterio de Ciencia, Innovación y Universidades (MICINN). EspañaJunta de Andalucía2024info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/163580https://doi.org/10.1016/j.mechmachtheory.2024.105795reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésMechanism and Machine Theory, 203, 105795.FPU18/05598US-1380740https://www.sciencedirect.com/science/article/pii/S0094114X24002222?pes=vor&utm_source=scopus&getft_integrator=scopusinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1635802026-06-17T12:51:07Z
dc.title.none.fl_str_mv Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
title Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
spellingShingle Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
García-Agúndez Blanco, Alfonso
Ball-plate system
Linearization
Multibody dynamics
Nonholonomic system
Trajectory tracking
title_short Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
title_full Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
title_fullStr Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
title_full_unstemmed Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
title_sort Dynamic inversion and optimal tracking control on the ball-plate system based on a linearized nonholonomic multibody model
dc.creator.none.fl_str_mv García-Agúndez Blanco, Alfonso
Saccon, A.
García Vallejo, Daniel
Freire Macías, Emilio
author García-Agúndez Blanco, Alfonso
author_facet García-Agúndez Blanco, Alfonso
Saccon, A.
García Vallejo, Daniel
Freire Macías, Emilio
author_role author
author2 Saccon, A.
García Vallejo, Daniel
Freire Macías, Emilio
author2_role author
author
author
dc.contributor.none.fl_str_mv Matemática Aplicada II
Ingeniería Mecánica y Fabricación
TEP111: Ingenieria Mecanica
TIC-130: Investigación en Sistemas Dinámicos en Ingeniería
Ministerio de Ciencia, Innovación y Universidades (MICINN). España
Junta de Andalucía
dc.subject.none.fl_str_mv Ball-plate system
Linearization
Multibody dynamics
Nonholonomic system
Trajectory tracking
topic Ball-plate system
Linearization
Multibody dynamics
Nonholonomic system
Trajectory tracking
description © 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
publishDate 2024
dc.date.none.fl_str_mv 2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/163580
https://doi.org/10.1016/j.mechmachtheory.2024.105795
url https://hdl.handle.net/11441/163580
https://doi.org/10.1016/j.mechmachtheory.2024.105795
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Mechanism and Machine Theory, 203, 105795.
FPU18/05598
US-1380740
https://www.sciencedirect.com/science/article/pii/S0094114X24002222?pes=vor&utm_source=scopus&getft_integrator=scopus
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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