In this paper, a control system architecture for control of non-affine in control, open-loop unstable underactuated system is discussed. Passivization of the unactuated (internal) system dynamics achieved through perturbation of trajectories of the actuated states, which are calculated through adaptive dynamic inversion technique, based on Tikhonov's theorem. Performance of the controller is shown through simulation of two open-loop unstable and locally uncontrollable example problems.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A control system architecture for control of non-affine in control, open-loop unstable underactuated systems


    Beteiligte:
    Marangoz, Alp (Autor:in) / Kutay, Ali Turker (Autor:in)


    Erscheinungsdatum :

    01.07.2017


    Format / Umfang :

    501250 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Combined open-loop and funnel control for underactuated multibody systems

    Berger, Thomas / Otto, Svenja / Reis, Timo et al. | BASE | 2019

    Freier Zugriff


    Control of Other Underactuated Mechanical Systems

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009



    Optimal control of underactuated nonholonomic mechanical systems

    Hussein, I.I. / Bloch, A.M. | Tema Archiv | 2008