Dynamics and control of a class of underactuated mechanical systems

Mahmut Reyhanoglu, Arjan van der Schaft, N. Harris McClamroch, Ilya Kolmanovsky

    Research output: Contribution to journalArticleAcademic

    391 Citations (Scopus)
    232 Downloads (Pure)

    Abstract

    This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable.
    Original languageUndefined
    Pages (from-to)1663-1671
    JournalIEEE transactions on automatic control
    Volume44
    Issue number9
    DOIs
    Publication statusPublished - 1999

    Keywords

    • Control System Synthesis
    • Controllability
    • Nonlinear control systems
    • stability criteria
    • IR-69516

    Cite this

    Reyhanoglu, M., van der Schaft, A., McClamroch, N. H., & Kolmanovsky, I. (1999). Dynamics and control of a class of underactuated mechanical systems. IEEE transactions on automatic control, 44(9), 1663-1671. https://doi.org/10.1109/9.788533