Dynamics and control of a class of underactuated mechanical systems

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

doi:10.1109/9.788533

Dynamics and control of a class of underactuated mechanical systems

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

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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 language	Undefined
Pages (from-to)	1663-1671
Journal	IEEE transactions on automatic control
Volume	44
Issue number	9
DOIs	https://doi.org/10.1109/9.788533
Publication status	Published - 1999

Keywords

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

Access to Document

10.1109/9.788533

Reyhanoglu99dynamics

Cite this

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title = "Dynamics and control of a class of underactuated mechanical systems",

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.",

keywords = "Control System Synthesis, Controllability, Nonlinear control systems, stability criteria, IR-69516",

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AU - van der Schaft, Arjan

AU - McClamroch, N. Harris

AU - Kolmanovsky, Ilya

PY - 1999

Y1 - 1999

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AB - 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.

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KW - Controllability

KW - Nonlinear control systems

KW - stability criteria

KW - IR-69516

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