Nonlinear control of a class of underactuated systems

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

doi:10.1109/CDC.1996.572793

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 proceeding › Conference contribution › Academic › peer-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 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	https://doi.org/10.1109/CDC.1996.572793
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/Territory	Japan
City	Kobe
Period	11/12/96 → 13/12/96

Keywords

IR-31131
METIS-141773

Access to Document

10.1109/CDC.1996.572793

00572793

Cite this

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title = "Nonlinear control of a class of underactuated systems",

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",

keywords = "IR-31131, METIS-141773",

author = "M. Reyhanoglu and Mahmut Reyhanoglu and {van der Schaft}, Arjan and McClamroch, {N. Harris} and Ilya Kolmanovsky",

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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

N1 - Conference code: 35

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

Y2 - 11 December 1996 through 13 December 1996

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