Nonlinear Control of a Class of Underactuated Systems

摘要

A theoretical framework is established for the dynamics and control ofunderactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results.