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. https://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01a
![]()
|
PDF
See Usage Policy. 238kB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01a
Abstract
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.
Item Type: | Book Section | ||||||
---|---|---|---|---|---|---|---|
Related URLs: |
| ||||||
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 | ||||||
DOI: | 10.1109/.2001.980452 | ||||||
Record Number: | CaltechAUTHORS:OLFcdc01a | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01a | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 5153 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Archive Administrator | ||||||
Deposited On: | 03 Oct 2006 | ||||||
Last Modified: | 08 Nov 2021 20:23 |
Repository Staff Only: item control page