Internet Archive Scholar

Controller design for a class of underactuated nonlinear systems

R. Olfati-Saber, A. Megretski
Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171)  

Preserved Fulltext

fulltext thumbnail
Web Archive Capture PDF (108.0 kB)
https://web.archive.org/web/20030818133021/http://www.cds.caltech.edu:80/~olfati/cdc98a.pdf

A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2003; you can also visit the original URL. The file type is application/pdf.

In this paper, we design a controller for a class of underactuated nonlinear systems. First, we try to find an appropriate global change of coordinates to transform the dynamics of the system into a desired form which consists of a lower order nonlinear subsystem plus a chain of integrators. Then, we find a control Lyapunov function (CLF) and its associated control law for the lower order subsystem. Finally, using backstepping procedure we derive the control Lyapunov function and the controller
more » ... for the whole system. The obtained controller renders the origin semiglobally asymptotically stable. As an special case, we demonstrate this procedure for The Acrobot example which is a twolink planar robot with a single actuator at the elbow.
doi:10.1109/cdc.1998.761958 fatcat:uq3rateilvgvtpskm4wmo7sqze
Citation

R. Olfati-Saber, A. Megretski. "Controller design for a class of underactuated nonlinear systems." Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171)