Abstract
| Original language | Undefined |
|---|---|
| Title of host publication | Proceedings 35th IEEE Conference on Decision and Control |
| Place of Publication | Kobe, Japan |
| Publisher | IEEE |
| Pages | 1682-1687 |
| Number of pages | 6 |
| ISBN (Print) | 0-7803-3593-7 |
| DOIs | |
| Publication status | Published - 11 Dec 1996 |
| Event | 35th IEEE Conference on Decision and Control 1996 - Portopia Hotel and International Conference Center , Kobe, Japan Duration: 11 Dec 1996 → 13 Dec 1996 Conference number: 35 |
Publication series
| Name | |
|---|---|
| Publisher | IEEE |
| Volume | 2 |
Conference
| Conference | 35th IEEE Conference on Decision and Control 1996 |
|---|---|
| Country | Japan |
| City | Kobe |
| Period | 11/12/96 → 13/12/96 |
Keywords
- IR-31131
- METIS-141773
Cite this
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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 proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Nonlinear control of a class of underactuated systems
AU - Reyhanoglu, M.
AU - Reyhanoglu, Mahmut
AU - van der Schaft, Arjan
AU - McClamroch, N. Harris
AU - Kolmanovsky, Ilya
PY - 1996/12/11
Y1 - 1996/12/11
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
KW - IR-31131
KW - METIS-141773
U2 - 10.1109/CDC.1996.572793
DO - 10.1109/CDC.1996.572793
M3 - Conference contribution
SN - 0-7803-3593-7
SP - 1682
EP - 1687
BT - Proceedings 35th IEEE Conference on Decision and Control
PB - IEEE
CY - Kobe, Japan
ER -