Title :
An Input Extension Control Method for A Class of Second-Order Nonholonomic Mechanical Systems with Drift
Author :
He, Guangping ; Lu, Zhen
Author_Institution :
Sch. of Mech. & Electr. Eng., North China Univ. of Technol., Beijing
Abstract :
The exponential stabilization control of a class of second-order nonholonomic systems with drift is investigated. From the point of view of the general control model of the nonholonomic system with drift, based on the Lie bracket extension theorem and Lie algebra rank condition, a motion planning method with extending the input by power polynomial is proposed. An exponential stabilization control theorem based on the power polynomial extension technique is proved for the underactuated manipulators of which the number of actuated joints is not less than it of the passive joints. A 2R and 3R underactuated manipulators with passive last joint are simulated for proving the validity of the method
Keywords :
Lie algebras; asymptotic stability; mechanical variables control; motion control; Lie algebra rank condition; Lie bracket extension theorem; exponential stabilization control; input extension control; motion planning; polynomial extension technique; power polynomial; second-order nonholonomic mechanical systems with drift; underactuated manipulators; Control systems; Gravity; Manipulator dynamics; Mechanical systems; Mobile robots; Motion control; Motion planning; Orbital robotics; Polynomials; Switches;
Conference_Titel :
Mechatronic and Embedded Systems and Applications, Proceedings of the 2nd IEEE/ASME International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-9721-5
DOI :
10.1109/MESA.2006.296931
