Nonlinear control of a class of underactuated systems

M. Reyhanoglu; A. van der Schaft; N. Harris McClamroch; I. Kolmanovsky

doi:10.1109/CDC.1996.572793

Nonlinear control of a class of underactuated systems

M. Reyhanoglu
, A. van der Schaft
, N. Harris McClamroch
, I. Kolmanovsky

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

446 Downloads (Pure)

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	English
Title of host publication	Proceedings 35th IEEE Conference on Decision and Control 1996
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1682-1687
Number of pages	6
Volume	2
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, CDC 1996 - Portopia Hotel and International Conference Center , Kobe, Japan Duration: 11 Dec 1996 → 13 Dec 1996 Conference number: 35

Publication series

Name	Proceedings IEEE Conference on Decision and Control (CDC)
Publisher	IEEE
Number	35
Volume	1996
ISSN (Print)	0191-2216

Conference

Conference	35th IEEE Conference on Decision and Control, CDC 1996
Abbreviated title	CDC
Country/Territory	Japan
City	Kobe
Period	11/12/96 → 13/12/96

Keywords

n/a OA procedure

Access to Document

10.1109/CDC.1996.572793

1 Report

Nonlinear control of a class of underactuated systems
Reyhanoglu, M., van der Schaft, A., Mcclamroch, N. H. & Kolmanovsky, I., 1996, Enschede: University of Twente. 11 p. (Memorandum / Department of Applied Mathematics)
Research output: Book/Report › Report › Professional

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",

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author = "M. Reyhanoglu and \{van der Schaft\}, A. and McClamroch, \{N. Harris\} and I. Kolmanovsky",

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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 1996. vol. 2, Proceedings IEEE Conference on Decision and Control (CDC), no. 35, vol. 1996, IEEE, Piscataway, NJ, pp. 1682-1687, 35th IEEE Conference on Decision and Control, CDC 1996, Kobe, Japan, 11/12/96. https://doi.org/10.1109/CDC.1996.572793

Nonlinear control of a class of underactuated systems. / Reyhanoglu, M.; van der Schaft, A.; McClamroch, N. Harris et al.
Proceedings 35th IEEE Conference on Decision and Control 1996. Vol. 2 Piscataway, NJ: IEEE, 1996. p. 1682-1687 (Proceedings IEEE Conference on Decision and Control (CDC); Vol. 1996, No. 35).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

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AU - van der Schaft, A.

AU - McClamroch, N. Harris

AU - Kolmanovsky, I.

N1 - Conference code: 35

PY - 1996/12/11

Y1 - 1996/12/11

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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 - n/a OA procedure

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DO - 10.1109/CDC.1996.572793

M3 - Conference contribution

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T3 - Proceedings IEEE Conference on Decision and Control (CDC)

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BT - Proceedings 35th IEEE Conference on Decision and Control 1996

PB - IEEE

CY - Piscataway, NJ

T2 - 35th IEEE Conference on Decision and Control, CDC 1996

Y2 - 11 December 1996 through 13 December 1996

ER -

Nonlinear control of a class of underactuated systems

Abstract

Publication series

Conference

Keywords

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Research output

Nonlinear control of a class of underactuated systems

Cite this