Mathematical problems in the control of underactuated systems
This paper is about stabilization by feedback of a certain type of nonlinear underactuated systems (i.e., systems with fewer control inputs than degrees of freedom). The class of systems considered can be used to describe a wide range of physical systems. NEWLINENEWLINENEWLINEThe authors give brief accounts of both the linearization and the Lyapunov function approaches to stabilization, followed by a discussion of the ``matching method to obtain simultaneously a closed-loop control and a Lyapunov function for a given control system of the type under consideration. They review their method to solve the matching equations and give a special account of the results obtained in the two-dimensional case. NEWLINENEWLINENEWLINEIn a final section the authors discuss open problems related to the choice of ``good stabilizing control laws. The issues involved are the choice and computation of criteria to evaluate the ``size of the basin of attraction, the time necessary to approach the equilibrium and the ``cost of control laws.NEWLINENEWLINEFor the entire collection see [Zbl 0964.00038].
- Controlling underactuated mechanical systems: a review and open problems
- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
- Dynamics and control of a class of underactuated mechanical systems
- Matching, linear systems, and the ball and beam
- Discontinuous feedback control of a special class of underactuated mechanical systems
- Control of a class of underactuated mechanical systems obviating matching conditions
- On topological obstructions to global stabilization of an inverted pendulum
- Matching, linear systems, and the ball and beam
- Global bifurcation analysis of a controlled underactuated mechanical system
- scientific article; zbMATH DE number 1687004 (Why is no real title available?)
- Controlling underactuated mechanical systems: a review and open problems
- Stabilization of systems with one degree of underactuation with energy shaping: a geometric approach
- scientific article; zbMATH DE number 1360078 (Why is no real title available?)
- On the \lambda-Equations for Matching Control Laws
- Control of nonlinear underactuated systems
- Dynamics and control of a class of underactuated mechanical systems
- Discontinuous feedback control of a special class of underactuated mechanical systems
- Tracking control of an underactuated rigid body with a coupling input force
- Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
- Lyapunov constraints and global asymptotic stabilization
- Stabilisation of four types of underactuated systems: a FAS approach
- Stabilization of unstable mechanical systems
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