Control of Underactuated Mechanical Systems
نویسنده
چکیده
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 underactuated mechanical systems. A modification of the control technique is designed to avoid singularities, such that a given trajectory can be followed. The control techniques are provided by papers of Dr. Reyhanoglu and other researchers in this area. Simulations, using several examples of underactuated systems, with Matlab are done to provide animations of the controlled system, for use in nonlinear control classes by Dr. Reyhanoglu.
منابع مشابه
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