Control of underactuated mechanical systems with servo-constraints
✍ Scribed by Wojciech Blajer; Krzysztof Kołodziejczyk
- Publisher
- Springer Netherlands
- Year
- 2007
- Tongue
- English
- Weight
- 528 KB
- Volume
- 50
- Category
- Article
- ISSN
- 0924-090X
No coin nor oath required. For personal study only.
📜 SIMILAR VOLUMES
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 func
We study a control problem for a special class of underactuated mechanical systems, namely for mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Speci"c assumptions are introduced that d