Analysis and Control of Underactuated Mechanical Systems

Abstract

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Pendubot control scheme based on nonlinear MPC and MHE exploiting parallelization

“…During the past decades, these systems have been studied in many application areas, and tend to be used to demonstrate various concepts in linear and nonlinear control such as swing-up, stabilization or trajectory tracking of unstable systems; see e.g. [2], [3]. With regards to process nonlinearities, constraints and stability guarantees, and the dynamic coupling between the unactuated state variables and the actuated ones, optimization-based techniques such as model predictive control can be thus sought as a systematic methodology to tackle these challenging problems.…”

Ultimate state boundedness of underactuated spacecraft subject to an unmatched disturbance

“…Considering the stabilization of such systems, an extensive amount of studies has been published in the literature. Choukchou-Braham et al (2013), Olfati-Saber (2001), Aneke (2003), Spong (1998), Fantoni and Lozano (2002) and Liu and Yu (2013) are just a few examples.…”

“…The linearized model of a majority of underactuated systems, especially in the absence of gravitational terms, is not controllable near equilibrium points (Choukchou- Braham et al, 2013). This leads to the well-known fact that most underactuated systems do not satisfy Brockett's necessary condition for smooth feedback stabilization (Choukchou- Braham et al, 2013).…”

“…This leads to the well-known fact that most underactuated systems do not satisfy Brockett's necessary condition for smooth feedback stabilization (Choukchou- Braham et al, 2013). In order to deal with this problem, non-smooth feedbacks have been proposed to stabilize underactuated mechanical systems (Reyhanoglu et al, 2000).…”

From Hopf Bifurcation to Limit Cycles Control in Underactuated Mechanical Systems

“…Different methodologies have been considered in the literature [Fradkov & Pogromsky, 1998] and [Leonard et al, 1998] to stabilize oscillations for underactuated mechanical system [Choukchou-Braham et al, 2014].…”