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Nonlinear control and reduction of underactuated systems with symmetry III. Input coupling case

Olfati-Saber, Reza (2001) Nonlinear control and reduction of underactuated systems with symmetry III. Input coupling case. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.4. IEEE , Los Alamitos, CA, pp. 3778-3783. ISBN 0-7803-7061-9.

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In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the effects of the control of the attitude dynamics appears in the translational dynamics. We present a general framework for decoupling of these effects. The decoupling is done by applying a change of coordinates in explicit form that transforms the original system into a cascade nonlinear system. We obtain three types of cascade normal forms, namely, nonlinear systems in strict feedback form, strict feedforward form, and nontriangular quadratic form. For a class of underactuated systems that are differentially flat, we obtain the flat outputs automatically as a by-product of the decoupling change of coordinates.

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Additional Information:© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06
Subject Keywords:aerospace vehicles; attitude dynamics; decoupling change; input coupling; kinetic symmetry; nonlinear control systems; nontriangular quadratic form; strict feedforward form; translational dynamics; underactuated systems reduction
Record Number:CaltechAUTHORS:OLFcdc01a
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5153
Deposited By: Archive Administrator
Deposited On:03 Oct 2006
Last Modified:08 Nov 2021 20:23

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