1,571 research outputs found
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
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
Motion Planning and Posture Control of Multiple n-link Doubly Nonholonomic Manipulators
The paper considers the problem of motion planning and posture control of multiple n-link doubly
nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace
is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves),
artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic
mobile manipulators subjected to such constraints becomes therefore a challenging navigational
and steering problem that few papers have considered in the past. Our approach to developing
the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a
Lyapunov control scheme that is not only intuitively understandable but also allows simple but
rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types
of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that
their final orientation approximated the desired orientation. Computer simulations illustrate these
results.
KEYWORDS: Lyapunov-based control scheme; Doubly nonholonomic manipulators; Ghost parking
bays; Minimum distance technique; Stability; Kinodynamic constraints
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