Tracking control of an underactuated rigid body with a coupling input force
This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque...
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2014-09-01
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| Series: | Archives of Control Sciences |
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| Online Access: | http://www.degruyter.com/view/j/acsc.2014.24.issue-3/acsc-2014-0019/acsc-2014-0019.xml?format=INT |
| Summary: | This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned |
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| ISSN: | 2300-2611 |