Dynamics and control of a class of underactuated mechanical systems

Authors :: Mahmut Reyhanoglu
A.J. van der Schaft
Ilya Kolmanovsky
N.H. McClamroch
Source :: IEEE transactions on automatic control, 44(9), 1663-1671. IEEE, IEEE transactions on automatic control, 1663-1671. IEEE, ISSUE=44;STARTPAGE=1663;ENDPAGE=1671;ISSN=0018-9286;TITLE=IEEE transactions on automatic control, University of Groningen, IEEE Transactions on Automatic Control, 44(9), 1663-1671. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Year :: 1999
Publisher :: Institute of Electrical and Electronics Engineers (IEEE), 1999.
Abstract: This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable.