DocumentCode
2712079
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
Volume
2
fYear
1996
fDate
11-13 Dec 1996
Firstpage
1682
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.572793
Filename
572793
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