Nonlinear control and reduction of underactuated systems with symmetry III. Input coupling case
- Creators
- Olfati-Saber, Reza
Abstract
In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the effects of the control of the attitude dynamics appears in the translational dynamics. We present a general framework for decoupling of these effects. The decoupling is done by applying a change of coordinates in explicit form that transforms the original system into a cascade nonlinear system. We obtain three types of cascade normal forms, namely, nonlinear systems in strict feedback form, strict feedforward form, and nontriangular quadratic form. For a class of underactuated systems that are differentially flat, we obtain the flat outputs automatically as a by-product of the decoupling change of coordinates.
Additional Information
© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06Files
Name | Size | Download all |
---|---|---|
md5:e4b61f3e2e658cbef6e87fbf2c906a29
|
238.5 kB | Preview Download |
Additional details
- Eprint ID
- 5153
- Resolver ID
- CaltechAUTHORS:OLFcdc01a
- Created
-
2006-10-03Created from EPrint's datestamp field
- Updated
-
2021-11-08Created from EPrint's last_modified field