A Reduced-eeort Control Law for Underactuated Rigid Bodies
نویسندگان
چکیده
Recent results show that a nonsmooth, time-invariant feedback control law can be used to stabilize an axi-symmetric rigid body using only two control torques to the zero equilibrium. This method, however, may require a signiicant amount of control eeort, especially for initial conditions close to an equilibrium manifold. In this paper we propose a modiication of the previous control law which reduces the control eeort required. The new control law renders the equilibrium manifold unstable and drives the trajectories of the closed-loop system into a \safe" region where the original control law can be subsequently used.
منابع مشابه
Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection
Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...
متن کاملControl Law for Underactuated Rigid Bodies
Recent results show that a nonsmooth time invariant feedback control law can be used to stabilize an axi symmetric rigid body using only two control torques to the zero equilibrium This method however may require a signi cant amount of control e ort especially for initial conditions close to an equilibrium manifold In this paper we propose a modi cation of the previous control law which reduces...
متن کاملReduced Effort Control Laws for Underactuated Rigid Spacecraft
Recent results show that a nonsmooth time invariant feedback control law can be used to stabi lize an axi symmetric rigid body using only two con trol torques to the zero equilibrium This method however may require a signi cant amount of con trol e ort especially for initial conditions close to an equilibrium manifold In this paper we propose a control law which reduces the control e ort re qui...
متن کاملXXXX Reduced � E ort Control Laws for Underactuated Rigid Spacecraft
Recent results show that a nonsmooth time invariant feedback control law can be used to rotate an axi symmetric rigid spacecraft to the zero equilibrium using only two control torques This method however may require a signi cant amount of control e ort especially for initial conditions close to an equilibrium manifold corresponding to rotations about the unactuated principal axis In this paper ...
متن کاملNonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints
Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second-order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussi...
متن کامل