Dynamics and control of a class of underactuated mechanical systems

被引：363
|
作者：
Reyhanoglu, M [1 ]
van der Schaft, A
McClamroch, NH
Kolmanovsky, I
机构：
[1] Embry Riddle Aeronaut Univ, Dept Phys Sci, Daytona Beach, FL 32114 USA
[2] Univ Twente, Dept Appl Math, NL-7500 AE Enschede, Netherlands
[3] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA
[4] Ford Res Lab, Dearborn, MI 48121 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1999年 / 44卷 / 09期
基金：
美国国家科学基金会;
关键词：
controllability; mechanical systems; nonlinear control; stabilizability; underactuated;
D O I：
10.1109/9.788533
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable.
引用
收藏
页码：1663 / 1671
页数：9
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