Switched finite time control of a class of underactuated systems.

DOI10.1007/11616269MaRDI QIDQ2492020zbMATH OpenOpenAlexFDO

Authors Ravi N. Banavar, Velupillai Sankaranarayanan

Publication date 1 June 2006

Published in Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/11616269

zbMATH Keywords

feedback stabilizationfinite time controlmechanical systemsstabilityswitched controlunderactuated systems

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Review text

This is a monograph focusing on the control of a class of underactuated mechanical systems (i.e. systems with less control inputs than degrees of freedom), which are not linearly controllable. The considered class of systems includes robotic manipulators, mobile robots, underwater vehicles, surface vessels, satellites. It is shown that such systems can be stabilized by switched finite-time control algorithms. The proposed strategy relies on the theory of finite-time differential equations. Regardless of the initial state, the controlled system reaches (in finite-time and without chattering) a set of surfaces whose intersection is a connected set containing the equilibrium. The text is organized in six chapters (Introduction, Mathematical preliminaries, A switched finite-time controller design methodology, Alternative control strategies for the nonholonomic integrator, Switched stabilization of a hovercraft, Output feedback stabilization of a mobile robot) and an appendix (Examples and proofs). The book is recommended to researchers, doctoral students and application engineers interested in the automatic control of underactuated mechanical systems.

Recommendations

• Analysis and control of underactuated mechanical systems
• A switched controller for an underactuated underwater vehicle
• Controlling underactuated mechanical systems: a review and open problems
• Adaptive control of uncertain nonholonomic systems in finite time
• Continuous finite-time control

Cited in

(7)

• Finite-time stability for a class of underactuated systems subject to time-varying disturbance
• On finite-time feedback control for switched discrete-time systems under fast and slow switching
• Finite-time stabilization of time-varying nonlinear systems based on a novel differential inequality approach
• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
• Guiding functions and discontinuous control: The underwater vehicle example
• Swing-stabilization up for a rotatory-elastic pendulum via nonlinear sub-optimal control
• A switched controller for an underactuated underwater vehicle

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