Nonlinear control of a class of underactuated systems

M. Reyhanoglu, A. van der Schaft, N. Harris McClamroch, I. 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 languageEnglish
    Title of host publicationProceedings 35th IEEE Conference on Decision and Control 1996
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages1682-1687
    Number of pages6
    Volume2
    ISBN (Print)0-7803-3593-7
    DOIs
    Publication statusPublished - 11 Dec 1996
    Event35th IEEE Conference on Decision and Control, CDC 1996 - Portopia Hotel and International Conference Center , Kobe, Japan
    Duration: 11 Dec 199613 Dec 1996
    Conference number: 35

    Publication series

    NameProceedings IEEE Conference on Decision and Control (CDC)
    PublisherIEEE
    Number35
    Volume1996
    ISSN (Print)0191-2216

    Conference

    Conference35th IEEE Conference on Decision and Control, CDC 1996
    Abbreviated titleCDC
    Country/TerritoryJapan
    CityKobe
    Period11/12/9613/12/96

    Keywords

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