Underactuated Mechanical Systems
نویسنده
چکیده
In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, exible robots, walking, brachiating, and gymnastic robots. The Lagrangian dynamics of these systems may contain feedforward nonlinearities, non-minimum phase zero dynamics, nonholonomic constraints, and other properties that place this class of systems at the forefront of research in nonlinear control [21, 13]. A complete understanding of the control of these systems is therefore lacking. We will discuss the application of geometric nonlinear control, as well as methods based on passivity and energy for stabilization and tracking control. We will survey some of the existing results and point to open research problems.
منابع مشابه
Dynamics and control of a class of underactuated mechanical systems
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are...
متن کاملControl of underactuated mechanical systems
In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
متن کاملControl of Underactuated Mechanical Systems
In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...
متن کاملNonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. Control of underactuated systems is currently an active field of research due to their broad applications in Robotics, Aerospace Vehicles, and Marine Vehicles. The exam...
متن کاملNonlinear Control of Underactuated Mechanical Systems with Application to Robotics
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. Control of underactuated systems is currently an active field of research due to their broad applications in Robotics, Aerospace Vehicles, and Marine Vehicles. The exam...
متن کاملKinematic controllability for decoupled trajectory planning in underactuated mechanical systems
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by timeoptimal time scaling. While this approach is well know...
متن کامل