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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    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
    Issue number9
    Publication statusPublished - 1999


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

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