Title :
Normal forms for underactuated mechanical systems with symmetry
Author :
Olfati-Saber, Reza
Author_Institution :
Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
fDate :
2/1/2002 12:00:00 AM
Abstract :
We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the rotating pendulum, and the cart-pole system
Keywords :
cascade systems; control system synthesis; feedback; feedforward; nonlinear control systems; pendulums; robots; symmetry; Acrobot; cart-pole system; cascade normal forms; cascade systems; control design; feedforward form; nonlinear systems; nontriangular quadratic form; rotating pendulum; strict feedback form; symmetry; underactuated mechanical systems; Automatic control; Control systems; Delay effects; Delay systems; Industrial control; Mechanical systems; Performance gain; Process control; Robust control; Sun;
Journal_Title :
Automatic Control, IEEE Transactions on
