Title :
Feedback stabilization for a special class of underactuated mechanical systems
Author :
Reyhanoglu, Mahmut ; Cho, Sangbum ; McClamroch, N. Harris
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
We study feedback controllers that can stabilize the equilibrium of a special class of underactuated mechanical systems, namely mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Theoretical controllability and stabilizability results for a large class of such underactuated mechanical systems have been developed in our previous work. Here we propose feedback controllers so that a closed loop equilibrium is globally attractive. The proposed construction procedure depends on selection of a scalar configuration variable corresponding to a directly actuated degree of freedom so that the dynamics of the unactuated degree of freedom, after a rational coordinate transformation, has a special form. The construction procedure is introduced, and a number of possible modifications are suggested. This construction procedure unifies controllers that we have developed for particular examples, including an underactuated ship, a planar rigid body containing an unactuated internal degree of freedom, a planar manipulator with an unactuated elastically mounted end effector, and an aerospace vehicle with an unactuated internal degree of freedom
Keywords :
controllability; controllers; feedback; stability; aerospace vehicle; closed loop equilibrium; controllability; directly actuated degrees of freedom; feedback controllers; feedback stabilization; planar manipulator; planar rigid body; single unactuated degree of freedom; stabilizability; system coupling; underactuated mechanical systems; Adaptive control; Aerodynamics; Aerospace control; Control systems; Controllability; End effectors; Feedback; Marine vehicles; Mechanical systems; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830262