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Nonlinear control and reduction of underactuated systems with symmetry. I. Actuated shape variables case

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1 Author(s)
Fati-Saber, R. ; California Inst. of Technol., Pasadena, CA

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

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Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

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