A virtual holonomic constraint (VHC) for an Euler-Lagrange Control
System is a smooth relation between the configuration variables that
can be made invariant through application of suitable feedback. In
this thesis we investigate the role played by VHCs in the
synchronization of Euler-Lagrange systems. We focus on two
problems. For $N$ underactuated cart-pendulums, we design a smooth feedback
that fully synchronizes the cart-pendulums while simultaneously
stabilizing a periodic orbit corresponding to a desired oscillation
for the pendulums. A by-product of our results is the ability to
simultaneously synchronize the pendulums and stabilize the unstable
upright equilibrium. The second synchronization problem investigated
in this thesis is bilateral teleoperation, whereby a master robot is
operated by a human while a slave robot synchronizes to the
master. For two identical planar manipulators, we develop a
methodology to achieve teleoperation in the presence of a hard
surface, with simultaneous force control.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/33253 |
| Date | 20 November 2012 |
| Creators | Dame, Jankuloski |
| Contributors | Manfredi, Maggiore |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
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