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Discontinuous feedback control of a special class of underactuated mechanical systems
Author(s) -
Reyhanoglu Mahmut,
Cho Sangbum,
Harris McClamroch N.
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(20000415)10:4<265::aid-rnc470>3.0.co;2-n
Subject(s) - underactuation , control theory (sociology) , mechanical system , nonlinear system , class (philosophy) , degrees of freedom (physics and chemistry) , controller (irrigation) , computer science , rigid body , control engineering , control (management) , engineering , physics , classical mechanics , artificial intelligence , quantum mechanics , agronomy , biology
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.