Vela, Patricio A. and Morgansen, Kristi A. and Burdick, Joel W. (2002) Second Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems. In: Proceedings of the 2002 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 4672-4677. ISBN 0-7803-7298-0 http://resolver.caltech.edu/CaltechAUTHORS:20111109-095911351
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This paper considers the stabilization of underactuated mechanical systems via high-amplitude, high-frequency actuation. Using higher order averaging techniques, we extend previous work to the case where symmetric products of order higher than one are necessary for controllability. We first introduce a second order averaged mechanical system model that incorporates higher order terms. Using this result, we obtain trajectory tracking in the average by feeding back an error signal that is constant over whole periods of the oscillatory actuation. A simulation demonstrates the method.
|Item Type:||Book Section|
|Additional Information:||© 2002 IEEE. Issue Date: 2002; Date of Current Version: 07 November 2002. This work was supported in part by the National Science Foundation through an Engineering Research Center grant (NSF9402726) and through NSF grant CMS-9502224.|
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|Official Citation:||Vela, P.A.; Morgansen, K.A.; Burdick, J.W.; , "Second order averaging methods for oscillatory control of underactuated mechanical systems," American Control Conference, 2002. Proceedings of the 2002 , vol.6, no., pp. 4672- 4677 vol.6, 2002 doi: 10.1109/ACC.2002.1025395|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Jason Perez|
|Deposited On:||09 Nov 2011 19:15|
|Last Modified:||23 Aug 2016 10:07|
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