Title :
Dynamic gravity I/O coupling and control of under-actuated systems
Author :
Galindo, R. ; Enriquez, C.
Author_Institution :
Dept. of Electr. Eng., Univ. of Nuevo Leon, Nuevo Len, Mexico
Abstract :
A control strategy for Euler-Lagrange under-actuated MIMO linear systems is proposed. For dynamic gravity I/O decoupling systems a coupling transformation is presented. Asymptotic stability is guaranteed and the regulation control problem is solved. Simulation results are given
Keywords :
MIMO systems; asymptotic stability; linear systems; matrix algebra; singularly perturbed systems; Euler-Lagrange under-actuated MIMO linear systems; asymptotic stability; coupling transformation; dynamic gravity I/O decoupling systems; regulation control problem; Aerodynamics; Control systems; Gravity; Linear systems; MIMO; Mechanical systems; Remotely operated vehicles; Stability; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980235
