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oaioai:pure.rug.nl:publications/255f3119-603d-4c27-a301-21f2ed0892b2

Nonlinear Control of a Class of Underactuated Systems

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Publication date
1 January 1996
Publisher
University of Groningen, Johann Bernoulli Institute for Mathematics and Computer Science

Abstract

A theoretical framework is established for the dynamics and control of underactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results

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Last time updated on 03/06/2022

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