Title :
Controllability of the nonlinear underactuated ball and plate system
Author :
Fu, Siyan ; Sui, Zhen ; Hongrui Wang ; Tian, Yantao
Author_Institution :
Sch. of Commun. Eng., Jilin Univ., Changchun, China
Abstract :
The sufficient conditions for the controllability of affine nonlinear control systems on Poisson manifolds are discussed in this paper. The results for the controllability of the nonlinear reduced system are applied to the ball and plate system. Controllability of the ball and plate system and ball dynamics is studied on Poisson manifolds. Under certain restrictions, the ball subsystem is locally strong accessible. And for the ball and system, if some conditions hold, the system is also locally strong accessible.
Keywords :
controllability; nonlinear control systems; stochastic processes; Poisson manifolds; affine nonlinear system; ball and plate system; ball dynamics; controllability; nonlinear underactuated system; Algebra; Control systems; Controllability; Equations; Mechanical systems; Mechatronics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Stability; Ball and Plate System; Controllability; LARC; WPPS; affine nonlinear ystem;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246432
