Normal Forms for Underactuated Mechanical Systems With Symmetry Reza
نویسندگان
چکیده
In this note, 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.
منابع مشابه
Normal forms for underactuated mechanical systems with symmetry
In this paper, 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 ou...
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