Stationary bifurcations control with applications

摘要

Given a family of nonlinear control systems, where the Jacobian of the driver vector field at one equilibrium has a simple zero eigenvalue, with no other eigenvalues on the imaginary axis, we split it into two parts, one of them being a generic family, where it is possible to control the stationary bifurcations: saddle-node, transcritical and pitchfork bifurcations, and the other one being a non-generic family, where it is possible to control the transcritical and pitchfork bifurcations. The polynomial control laws designed are given in terms of the original control system. The center manifold theory is used to simplify the analysis to dimension one. Finally, the results obtained are applied to two underactuated mechanical systems: the pendubot and the pendulum of Furuta.