Nonlinear Control and Reduction of Underactuated Systems with Symmetry I: Actuated Shape Variables Case
نویسنده
چکیده
In this paper, we address nonlinear control and reduction of a class of high-order underactuated mechanical systems with kinetic symmetry called Class-I systems. Class-I systems are underactuated systems with actuated shape variables, decoupled inputs, and integrable normalized momentums (all to be de ned). We show that all Class-I underactuated systems can be transformed into cascade systems in strict feedback form with a zerodynamics that is a Lagrangian system itself.
منابع مشابه
Nonlinear Control and Reduction of Underactuated Systems with Symmetry II: Unactuated Shape Variables Case
In this paper, we address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III systems. Class-II systems are underactuated systems with unactuated shape variables, decoupled inputs, and integrable normalized momentums (all to be defined). We show that all Class-II underactuated systems can be transforme...
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