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Article
Discontinuous Feedback Control of a Special Class of Underactuated Mechanical Systems
International Journal of Robust and Nonlinear Control (2000)
  • Mahmut Reyhanoglu
  • Sangbum Cho
  • N. Harris McClamroch
Abstract
"We study a control problem for a special class of underactuated mechanical systems, namely for mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Specific assumptions are introduced that define this class, which includes many important models of mechanical system examples. The main result of the paper is the construction of a discontinuous nonlinear feedback controller for which the closed loop equilibrium at the origin is made ‘globally attractive’. The control construction approach is introduced in detail, and a proof of attractiveness is presented. The results are applied to control of the planar motion of a rigid body with a single unactuated internal degree of freedom."--From the article.
Keywords
  • closed loop control systems,
  • degree of freedom (mechanics),
  • nonlinear control systems
Publication Date
April, 2000
DOI
https://doi.org/10.1002/(SICI)1099-1239(20000415)10:4<265::AID-RNC470>3.0.CO;2-N
Citation Information
Mahmut Reyhanoglu, Sangbum Cho and N. Harris McClamroch. "Discontinuous Feedback Control of a Special Class of Underactuated Mechanical Systems" International Journal of Robust and Nonlinear Control Vol. 10 Iss. 4 (2000) p. 265 - 281 ISSN: 1099-2139
Available at: http://works.bepress.com/mahmut_reyhanoglu/41/