Nonlinear control of a class of underactuated systems

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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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
Reyhanoglu, M. ; Reyhanoglu, Mahmut ; van der Schaft, Arjan ; McClamroch, N. Harris ; Kolmanovsky, Ilya. / Nonlinear control of a class of underactuated systems. Proceedings 35th IEEE Conference on Decision and Control. Kobe, Japan : IEEE, 1996. pp. 1682-1687
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Reyhanoglu, M, Reyhanoglu, M, van der Schaft, A, McClamroch, NH & Kolmanovsky, I 1996, Nonlinear control of a class of underactuated systems. in Proceedings 35th IEEE Conference on Decision and Control. IEEE, Kobe, Japan, pp. 1682-1687, 35th IEEE Conference on Decision and Control 1996, Kobe, Japan, 11/12/96. https://doi.org/10.1109/CDC.1996.572793

Nonlinear control of a class of underactuated systems. / Reyhanoglu, M.; Reyhanoglu, Mahmut; van der Schaft, Arjan; McClamroch, N. Harris; Kolmanovsky, Ilya.

Proceedings 35th IEEE Conference on Decision and Control. Kobe, Japan : IEEE, 1996. p. 1682-1687.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - 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

AB - 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

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