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. IEEE , Piscataway, NJ, pp. 4672-4677. ISBN 0-7803-7298-0.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


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
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.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20111109-095911351
Persistent URL:
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
Deposited By: Jason Perez
Deposited On:09 Nov 2011 19:15
Last Modified:09 Nov 2021 16:50

Repository Staff Only: item control page