DocumentCode
3367889
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
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
1179
Lastpage
1183
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMA.2009.5246432
Filename
5246432
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