Application of SSTT control algorithm for underactuated: surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum

摘要

The paper deals with verifications and validation of the control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems. A simplicity, universality, and effectiveness of the control law are shown on simulations to the both multibody second-order nonholonomic systems (a planar PPR manipulator and an inverted pendulum) and underactuated systems with forces/moments input coupling (a surface vessel). An experimental verification has been made on the novel pneumatically actuated slider-inverted pendulum with included friction effects. Also, an actuator compensator is constructed and implemented for this highly nonlinear experimental setup to avoid the increase of the system's relative degree in the closed control loop, and to avoid the unnecessary time derivation of the system's functions with non-differentiable Coulomb friction effects.