Name
Abstract | ||
|---|---|---|
In this paper, we introduce cascade normal forms for underactuated mechanical systems that are conve- nient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transfor- mation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the Rotating Pendulum, and the Cart-Pole system. I. Introduction Underactuated Systems are mechanical control systems with fewer controls than configuration variables. In re- cent years, there has been extensive interest among the re- searchers in control of underactuated mechanical systems due to their broad applications (see (1), (2) and references therein). Many real-life control systems including aircraft, spacecraft, helicopters, underwater vehicles, surface ves- sels, mobile robots, walking robots, and flexible-link robots are examples of underactuated systems. In this paper, we introduce three classes of cascade nor- mal forms for underactuated systems. Namely, cascade nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form. The structure of these normal forms allows application of the existing control de- sign methods like backstepping (3) and forwarding (4) to control of underactuated systems. In addition, the need for developing eective |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/9.983365 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Mechanical systems,Process control,Industrial control,Robust control,Automatic control,Control systems,Delay systems,Sun,Delay effects,Performance gain | Underactuated mechanical systems,Nonlinear system,Control theory,Quadratic form,Cascade,Pendulum,Robot,Mathematics,Feed forward,Strict-feedback form | Journal |
Volume | Issue | ISSN |
47 | 2 | 0018-9286 |
Citations | PageRank | References |
30 | 2.18 | 2 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Reza Olfati-Saber | 1 | 8066 | 549.43 |
| Olfati-Saber, R. | 2 | 30 | 2.18 |