Control of nonlinear underactuated systems

Details Control of nonlinear underactuated systems Control of nonlinear underactuated systems

1999-01-29

arxiv.org/abs/math/9901140v1

Mathematics

Optimization and Control

17 pages

Scientific paper

In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional family. These control laws each come with a natural Lyapunov function. The inverted pendulum cart is used as an example. In addition, we construct an abstract system which is open loop unstable and cannot be stabilized using any linear control law, and demonstrate that our method produces a stabilizing control law.

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