Nonlinear control of a class of underactuated systems

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

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    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
    Original languageUndefined
    Title of host publicationProceedings 35th IEEE Conference on Decision and Control
    Place of PublicationKobe, Japan
    PublisherIEEE
    Pages1682-1687
    Number of pages6
    ISBN (Print)0-7803-3593-7
    DOIs
    Publication statusPublished - 11 Dec 1996
    Event35th IEEE Conference on Decision and Control 1996 - Portopia Hotel and International Conference Center , Kobe, Japan
    Duration: 11 Dec 199613 Dec 1996
    Conference number: 35

    Publication series

    Name
    PublisherIEEE
    Volume2

    Conference

    Conference35th IEEE Conference on Decision and Control 1996
    CountryJapan
    CityKobe
    Period11/12/9613/12/96

    Keywords

    • IR-31131
    • METIS-141773

    Cite this

    Reyhanoglu, M., Reyhanoglu, M., van der Schaft, A., McClamroch, N. H., & Kolmanovsky, I. (1996). Nonlinear control of a class of underactuated systems. In Proceedings 35th IEEE Conference on Decision and Control (pp. 1682-1687). Kobe, Japan: IEEE. https://doi.org/10.1109/CDC.1996.572793