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Discontinuous feedback control of a special class of underactuated mechanical systems

✍ Scribed by Mahmut Reyhanoglu; Sangbum Cho; N. Harris McClamroch

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
152 KB
Volume
10
Category
Article
ISSN
1049-8923

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✦ Synopsis

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 de"ne this class, which includes many important models of mechanical system examples. The main result of the paper is the construction of a discontinuous nonlinear feedback controller for which the closed loop equilibrium at the origin is made &globally attractive'. The control construction approach is introduced in detail, and a proof of attractiveness is presented. The results are applied to control of the planar motion of a rigid body with a single unactuated internal degree of freedom.

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