Title :
Dynamics and control of a class of underactuated mechanical systems
Author :
Reyhanoglu, Mahmut ; Van der Schaft, Arjan ; McClamroch, N. Harris ; Kolmanovsky, Ilya
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
fDate :
9/1/1999 12:00:00 AM
Abstract :
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable
Keywords :
control system synthesis; controllability; nonlinear control systems; stability criteria; control system formulation; controllability; nonintegrable dynamics relations; stabilizability; underactuated mechanical systems; Acceleration; Aerodynamics; Control systems; Controllability; Equations; Force control; Mechanical systems; Nonlinear control systems; Open loop systems; Torque control;
Journal_Title :
Automatic Control, IEEE Transactions on
