Published February 2002
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Normal forms for underactuated mechanical systems with symmetry
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Abstract
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.Files
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- 5145
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- CaltechAUTHORS:OLFieeetac02a
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2006-10-03Created from EPrint's datestamp field
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2021-11-08Created from EPrint's last_modified field