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Nonlinear control and reduction of underactuated systems with symmetry. II. Unactuated shape variables case

Olfati-Saber, Reza (2001) Nonlinear control and reduction of underactuated systems with symmetry. II. Unactuated shape variables case. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.5. IEEE , Los Alamitos, CA, pp. 4164-4169. ISBN 0-7803-7061-9.

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For pt. I see ibid., p.4158-63 (2001). We address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III systems. Class-II systems are underactuated systems with unactuated shape variables, decoupled inputs, and integrable normalized momentums (all to be defined). We show that all Class-II underactuated systems can be transformed into cascade systems in nontriangular quadratic form using an explicit change of coordinates and control. In addition,, we characterize a subclass of Class-II systems, called Class-III systems, that can be explicitly transformed into cascade systems in strict feedforward form. This allows application of existing nonlinear control design methods like nested saturations and feedforwarding to control of underactuated systems.

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Additional Information:© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06
Subject Keywords:Class-II systems; Class-III systems; cascade systems; control system synthesis; feedforwarding; high-order underactuated mechanical systems; nested saturations; nonlinear control; nonlinear control design methods; nontriangular quadratic form; pendubot; strict feedforward form; symmetry; systems reduction; unactuated shape variables
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ID Code:5155
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Deposited On:03 Oct 2006
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