控制系统数字仿真与CAD 第3版 教学课件 作者 张晓华 主编 5.Cascade normal forms for underactuated mechnical systems.pdfVIP

Proceedingsof the 39 IEEE Conference on Decision and Control Sydney, Australia December; 2000 Cascade Normal Forms for Underactuated Mechanical Systems Reza Olfati-Saber LIDS, MIT 35-409 77 Massachusetts Ave. Cambridge, MA 02139 olfati@mit.edu Abstract the original higher-order system reduces to control of its lower-order nonlinear subsystem. The justification for In this paper, we introduce cascade normal forms for the linear part of this cascade normal form comes from underactuated mechanical systems that are convenient the fact that all underactuated systems can be partially for control design. These normal forms are partially linearized using a change of control [12]. However, after linear which results from a well-known fact that un- applying this change of control, the new control appears deractuated systems can be partially linearized using both in the linear and nonlinear subsystems. This is one a change of control [12]. The difficulty arises when of the main sources of complexity of control design for the new control appears both in the linear and nonlin- underactuated systems. The contributions of this work ear subsystems. We introduce a method for decoupling can be summarized as follows. First, we introduce an these two subsystems by applying a change of coordi- appro