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Article . 2002
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Normal forms for underactuated mechanical systems with symmetry

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2002 United States Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Transactions on Automatic Control, volume 47, pages 305-308 (issn: 0018-9286, Copyright policy )
Authors: Olfati-Saber, Reza;

doi: 10.1109/9.983365

Normal forms for underactuated mechanical systems with symmetry

Abstract

We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the rotating pendulum, and the cart-pole system.

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United States
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Keywords

Cascade systems, nonlinear control, normal forms, symmetry, underactuated systems, normal forms, 610, nonlinear control, Cascade systems, symmetry, underactuated systems, 620

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
226
Top 1%
Top 1%
Top 10%
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