Referenced Items are not available for this document.
We address nonlinear control and reduction of a class of high-order underactuated mechanical systems with kinetic symmetry called Class-I systems. Class-I systems are underactuated systems with actuated shape variables, decoupled inputs, and integrable normalized momentums. We show that all Class-I underactuated systems can be transformed into cascade systems in strict feedback form with a zero-dynamics that is a Lagrangian system itself
Published in:
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
(Volume:5
)
Date of Conference: 2001
- Page(s):
- 4158 - 4163 vol.5
- Meeting Date :
- 04 Dec 2001-07 Dec 2001
- Print ISBN:
- 0-7803-7061-9
- INSPEC Accession Number:
- 7204943
- Conference Location :
- Orlando, FL
- Digital Object Identifier :
- 10.1109/.2001.980834
- Product Type:
- Conference Publications
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