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Control of underactuated mechanical systems by the transverse function approach

Pascal Morin 1 Claude Samson 1
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : An approach for the control of a class of underactuated mechanical systems on Lie groups, including many systems previously studied in the control literature, like underactuated planar manipulators and rigid bodies (spacecrafts, hovercrafts, etc), is proposed. The main outcome of the paper is the derivation, based on the transverse function approach initially proposed by the authors for the control of non-holonomic (driftless) mechanical systems, of smooth feedback control laws which stabilize, in a practical sense, any (possibly non-admissible) reference trajectory in the configuration space.
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Submitted on : Friday, May 19, 2006 - 8:37:14 PM
Last modification on : Friday, February 4, 2022 - 3:24:55 AM
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  • HAL Id : inria-00070482, version 1



Pascal Morin, Claude Samson. Control of underactuated mechanical systems by the transverse function approach. [Research Report] RR-5525, INRIA. 2005, pp.18. ⟨inria-00070482⟩



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