Dynamics and control of a class of underactuated mechanical systems

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable

Nonlinear control of a class of underactuated systems

A theoretical framework is established for the dynamics and control of underactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the result

Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized

フレキシブル双腕ロボットの協調制御に関する研究

平成7年度-平成9年度科学研究費補助金(基盤研究(B)(2))研究成果報告書,課題番号.0745541