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.


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    Title :

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


    Contributors:


    Publication date :

    2017-07-01


    Size :

    501250 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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