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
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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.
|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|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Archive Administrator|
|Deposited On:||03 Oct 2006|
|Last Modified:||15 Jan 2015 20:41|
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