CaltechAUTHORS
  A Caltech Library Service

Normal forms for underactuated mechanical systems with symmetry

Olfati-Saber, Reza (2002) Normal forms for underactuated mechanical systems with symmetry. IEEE Transactions on Automatic Control, 47 (2). pp. 305-308. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac02a

[img]
Preview
PDF
See Usage Policy.

112Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac02a

Abstract

We introduce cascade normal forms for underactuated mechanical systems that are convenient 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 transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the rotating pendulum, and the cart-pole system.


Item Type:Article
Additional Information:© Copyright 2002 IEEE. Reprinted with permission. Manuscript received December 9, 1999; revised August 30, 2001. [Posted online: 2002-08-07] Recommended by Associate Editor M. Krstic. The author would like to thank A. Megretski for our discussions on the subject of this note and appreciate the constructive suggestions of the reviewers.
Subject Keywords:Cascade systems, nonlinear control, normal forms, symmetry, underactuated systems
Record Number:CaltechAUTHORS:OLFieeetac02a
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:OLFieeetac02a
Alternative URL:http://dx.doi.org/10.1109/9.983365
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5145
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:03 Oct 2006
Last Modified:26 Dec 2012 09:04

Repository Staff Only: item control page