Published May 2002
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Second Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems
Abstract
This paper considers the stabilization of underactuated mechanical systems via high-amplitude, high-frequency actuation. Using higher order averaging techniques, we extend previous work to the case where symmetric products of order higher than one are necessary for controllability. We first introduce a second order averaged mechanical system model that incorporates higher order terms. Using this result, we obtain trajectory tracking in the average by feeding back an error signal that is constant over whole periods of the oscillatory actuation. A simulation demonstrates the method.
Additional Information
© 2002 IEEE. Issue Date: 2002; Date of Current Version: 07 November 2002. This work was supported in part by the National Science Foundation through an Engineering Research Center grant (NSF9402726) and through NSF grant CMS-9502224.Attached Files
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Additional details
- Eprint ID
- 27702
- Resolver ID
- CaltechAUTHORS:20111109-095911351
- EEC-9402726
- NSF
- CMS-9502224
- NSF
- Created
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2011-11-09Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field