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Control of nonlinear underactuated systems

โœ Scribed by David Auckly; Lev Kapitanski; Warren White

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
311 KB
Volume
53
Category
Article
ISSN
0010-3640

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โœฆ Synopsis

In this paper we introduce a new method to design control laws for nonlinear, underactuated systems. Our method produces an infinite-dimensional family of control laws, whereas most control techniques only produce a finite-dimensional family. These control laws each come with a natural Lyapunov function. The inverted pendulum cart is used as an example. In addition, we construct an abstract system that is open-loop unstable and cannot be stabilized using any linear control law and demonstrate that our method produces a stabilizing control law.

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