Second order averaging methods for oscillatory control of underactuated mechanical systems

Proceedings of the American Control Conference

Volumn 6, Issue , 2002, Pages 4672-4677

  Vela, Patricio A ^a,b   Morgansen, Kristi A ^a,b   Burdick, Joel W ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b California Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

LIE BRACKETS; OSCILLATORY CONTROL; SECOND ORDER AVERAGING METHODS; UNDERACTUATED MECHANICAL SYSTEMS;

ASYMPTOTIC STABILITY; CONTROLLABILITY; DISCRETE TIME CONTROL SYSTEMS; INITIAL VALUE PROBLEMS; LINEAR ALGEBRA; LINEARIZATION; NUMERICAL METHODS; SYSTEM STABILITY;

MECHANISMS;

EID: 0036058046     PISSN: 07431619     EISSN: None     Source Type: Journal    
DOI: 10.1109/ACC.2002.1025395     Document Type: Article

References (19)

1. The exponential representation of flows and the chronological calculus
2. Control and stabilization of nonholonomic dynamic systems
3. Averaging and vibrational control of mechanical systems
4. Series expansion for the evolution of mechanical control systems
5. Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
6. Feedback control of a nonholonomic underwater vehicle with a constant desired configuration
7. The dynamics of a forced sphere-plate system
8. Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles
9. Configuration controllability of simple mechanical control systems
10. Nonholonomic mechanics and locomotion: The snakeboard example
11. An approximation algorithm for nonholonomic systems
12. Nonlinear control methods for planar carangiform robot fish locomotion
13. Trajectory tracking from approximate inversion for driftless nonholonomic systems
14. Design of homogeneous time-varying stabilizing control laws for drift-less controllable systems via oscillatory approximation of lie brackets in closed loop
15. Nonholonomic motion planning: Steering using sinusoids
16. Exponential stabilization of nonholonomic chained systems
17. Nonholonomic control systems: From steering to stabilization with sinusoids