Normal forms for underactuated mechanical systems with symmetry

被引：200

作者：

Olfati-Saber, R ^{[1
]}

机构：

[1] CALTECH, Dept Control & Dynam Syst, Pasadena, CA 91125 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 02期

关键词：

cascade systems; nonlinear control; normal forms; symmetry; underactuated systems;

D O I：

10.1109/9.983365

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this note, we introduce cascade normal forms for under-actuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the Rotating Pendulum, and the Cart-Pole system.

引用

页码：305 / 308

页数：4

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