International Journal of Robust and Nonlinear Control

Research Article

Discontinuous feedback control of a special class of underactuated mechanical systems

Corresponding Author

Mahmut Reyhanoglu

[email protected]

Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, U.S.A.

Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, U.S.A.===Search for more papers by this author

Sangbum Cho,

Sangbum Cho

Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, U.S.A.

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N. Harris McClamroch,

N. Harris McClamroch

Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, U.S.A.

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Mahmut Reyhanoglu,

Corresponding Author

Mahmut Reyhanoglu

[email protected]

Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, U.S.A.

Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, U.S.A.===Search for more papers by this author

Sangbum Cho,

Sangbum Cho

Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, U.S.A.

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N. Harris McClamroch,

N. Harris McClamroch

Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, U.S.A.

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First published: 09 March 2000

https://doi.org/10.1002/(SICI)1099-1239(20000415)10:4<265::AID-RNC470>3.0.CO;2-N

Citations: 17

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Abstract

We study a control problem for a special class of underactuated mechanical systems, namely for mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Specific assumptions are introduced that define this class, which includes many important models of mechanical system examples. The main result of the paper is the construction of a discontinuous nonlinear feedback controller for which the closed loop equilibrium at the origin is made ‘globally attractive’. The control construction approach is introduced in detail, and a proof of attractiveness is presented. The results are applied to control of the planar motion of a rigid body with a single unactuated internal degree of freedom. Copyright © 2000 John Wiley & Sons, Ltd.

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Citing Literature

Volume10, Issue4

Special Issue:CONTROL OF UNDERACTUATED NONLINEAR SYSTEMS

15 April 2000

Pages 265-281

Discontinuous feedback control of a special class of underactuated mechanical systems

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Discontinuous feedback control of a special class of underactuated mechanical systems

Abstract

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