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Control with transverse functions and a single generator of underactuated mechanical systems

Pascal Morin 1 Claude Samson 1
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : The control of a class of underactuated mechanical systems on Lie groups is addressed, with the objective of stabilizing, in a practical sense, any (possibly non-admissible) reference trajectory in the configuration space. The present control design method extends a previous result by the authors to systems underactuated by more than one control. For example, it allows to address the case of a 3D-rigid body immersed in a perfect fluid with only three control inputs. The choice of the control parameters is also discussed in relation to the system's zero-dynamics.
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https://hal.inria.fr/inria-00070179
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Submitted on : Friday, May 19, 2006 - 7:21:25 PM
Last modification on : Saturday, January 27, 2018 - 1:31:28 AM
Long-term archiving on: : Sunday, April 4, 2010 - 8:26:05 PM

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  • HAL Id : inria-00070179, version 1

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Pascal Morin, Claude Samson. Control with transverse functions and a single generator of underactuated mechanical systems. [Research Report] RR-5847, INRIA. 2006, pp.20. ⟨inria-00070179⟩

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