Scheduled System Maintenance:
On May 6th, system maintenance will take place from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). During this time, there may be intermittent impact on performance. We apologize for the inconvenience.
By Topic

Control of underactuated mechanical systems with two degrees of freedom and symmetry

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Olfati-Saber, R. ; Lab. for Inf. & Decision Syst., MIT, Cambridge, MA, USA

We consider a special class of underactuated mechanical systems with two degrees of freedom and symmetry. By symmetry, we mean the inertia matrix of the system is independent of the unactuated degree of freedom. We show that there exists a natural global change of coordinates obtained from the Lagrangian of the system that transforms the system into a partially linear cascade nonlinear system that is strict feedback. The nonlinear part of this system is non-affine in control and this highly complicates control design for the system. We provide conditions under which this nonlinear subsystem can be globally stabilized and give globally stabilizing control laws for it. The strict feedback structure of the system in new coordinates allows one to obtain a globally stabilizing control law for the composite system using standard backstepping. We apply our result to global asymptotic stabilization of the Acrobot

Published in:

American Control Conference, 2000. Proceedings of the 2000  (Volume:6 )

Date of Conference: