Title :
Feedback control of an underactuated system with two unactuated degrees of freedom
Author :
Reyhanoglu, Mahmut
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
Abstract :
Studies the problem of controlling a planar rigid body containing a sliding block, which represents an underactuated mechanical system with two unactuated degrees of freedom. The main result of the paper is the construction of a point-to-point discontinuous feedback controller for the system by utilizing the nonlinear coupling between the directly actuated degrees of freedom and the unactuated degrees of freedom
Keywords :
control system synthesis; feedback; motion control; nonlinear control systems; sampled data systems; feedback control; motion control; nonlinear control systems; nonlinear coupling; planar rigid body; point-to-point discontinuous feedback controller; sampled data systems; sliding block; unactuated degrees of freedom; underactuated System; underactuated mechanical system; Adaptive control; Control systems; Couplings; Equations; Feedback control; Force control; Mechanical systems; Mechanical variables control; Motion control; Nonlinear control systems;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980838
