Control with transverse functions and a single generator of underactuated mechanical systemsReport as inadecuate




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1 ICARE - Instrumentation, control and architecture of advanced robots CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : The control of a class of underactuated mechanical systems on Lie groups is addressed, with the objective of stabilizing, in a practical sense, any possibly non-admissible reference trajectory in the configuration space. The present control design method extends a previous result by the authors to systems underactuated by more than one control. For example, it allows to address the case of a 3D-rigid body immersed in a perfect fluid with only three control inputs. The choice of the control parameters is also discussed in relation to the system-s zero-dynamics.

Keywords : MECHANICAL SYSTEM TRAJECTORY STABILIZATION TRANSVERSE FUNCTION UNDERACTUATED SYSTEM





Author: Pascal Morin - Claude Samson -

Source: https://hal.archives-ouvertes.fr/



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