MODAL CONTROL OF UNDERACTUATED SYSTEMS

摘要

This work addresses the modal control of underactuated mechanical systems, whereby the number of actuators is less than the degree-of-freedom of the underlying mechanical system. The performance of the control system depends on the structure of the feedback gain matrix, that is, the coupling between sensors and actuators. This coupling is often not arbitrary, but the topology of the sensor-actuator network can be a fixed constraint of the control system. This work examines the influence of this structure on the performance of the overlying control system.