Control of underactuated mechanical systems by the transverse function approach

被引：0
|
作者：
Morin, Pascal [1 ]
Samson, Claude [1 ]
机构：
[1] INRIA, F-06902 Sophia Antipolis, France
来源：
2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An approach for the control of a class of underactuated mechanical systems on Lie groups, including many systems previously studied in the control literature, like underactuated planar manipulators and rigid bodies (spacecrafts, hovercrafts, etc), is proposed. The main outcome of the paper is the derivation, based on the transverse function approach initially proposed by the authors for the control of nonholonomic (driftless) mechanical systems, of smooth feedback control laws which stabilize, in a practical sense, any (possibly non-admissible) reference trajectory in the configuration space.
引用
收藏
页码：7508 / 7513
页数：6
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