Nonlinear control of a class of underactuated systems


Reyhanoglu, Mahmut and Schaft, Arjan van der and Mcclamroch, N. Harris and Kolmanovsky, Ilya (1996) Nonlinear control of a class of underactuated systems. In: 35th IEEE Conference on Decision and Control, 1996, 11-13 December 1996, Kobe, Japan (pp. pp. 1682-1687).

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Abstract:A theoretical framework is established for the dynamics and control of underactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results
Item Type:Conference or Workshop Item
Copyright:©1996 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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