Title :
Control of underactuated systems. Application to a tandem fan in a 3 DOF platform
Author :
Galindo, R. ; Lozano, R.
Author_Institution :
CINVESTAV, Mexico City, Mexico
Abstract :
A Euler-Lagrange model for a tandem fan (TF) in a 3 DOF platform is obtained. The system can be viewed as an asymmetric top. A control strategy for underactuated systems is proposed and an application to the TF is presented. Stability is guaranteed and the tracking problem is solved
Keywords :
asymptotic stability; closed loop systems; helicopters; matrix algebra; 3 DOF platform; Euler-Lagrange model; asymmetric top; control strategy; tandem fan; tracking problem; underactuated systems; Aerospace control; Aerospace engineering; Automatic control; Control systems; Electronic mail; Fans; Gravity; Helicopters; Lagrangian functions; Stability;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897511
