Title :
Nonlinear control of a class of underactuated systems
Author :
Reyhanoglu, Mahmut ; van der Schaft, Arjan ; McClamroch, N. Harris ; Kolmanovsky, Ilya
Author_Institution :
Dept. of Appl. Math., Twente Univ., Enschede, Netherlands
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
Keywords :
controllability; manipulators; marine systems; nonlinear control systems; position control; stability; controllability; nonlinear control; second-order nonholonomic systems; stabilizability; theoretical framework; underactuated systems; Acceleration; Control systems; Controllability; Force control; Integral equations; Mathematics; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Torque control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572793
