Normal forms for underactuated mechanical systems with symmetry

IEEE Transactions on Automatic Control

Volumn 47, Issue 2, 2002, Pages 305-308

  Olfati Saber, Reza ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Cascade systems; Nonlinear control; Normal forms; Symmetry; Underactuated systems

Indexed keywords

CASCADE CONTROL SYSTEMS; CONTROL SYSTEM ANALYSIS; FUNCTIONS; MATHEMATICAL TRANSFORMATIONS; MATRIX ALGEBRA; STATE FEEDBACK; THEOREM PROVING;

UNDERACTUATED SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 0036475087     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.983365     Document Type: Article

References (14)

1. Dynamics and control of a class of underactuated mechanical systems
2. Underactuated mechanical systems
3. Adding integrations, saturated controls, and stabilization for feedforward systems
4. Fixed point controllers and stabilization of the cart-pole system and the rotating pendulum
5. Energy based control of a class of underactuated mechanical systems
6. Cascade normal forms for underactuated mechanical systems
7. Control of underactuated mechanical systems with two degrees of freedom and symmetry
8. Using saturation to stabilize a class of single-input partially linear composite systems
9. The swing up control problem for the acrobot
10. Swining up a pendulum by energy control