CaltechAUTHORS
  A Caltech Library Service

Second Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems

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

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20111109-095911351

Abstract

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
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ACC.2002.1025395DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1025395PublisherUNSPECIFIED
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.
Funders:
Funding AgencyGrant Number
NSF Engineering Research CenterNSF9402726
NSFCMS-9502224
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number7426491
Record Number:CaltechAUTHORS:20111109-095911351
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20111109-095911351
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.
ID Code:27702
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:09 Nov 2011 19:15
Last Modified:09 Nov 2011 19:15

Repository Staff Only: item control page