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

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.