Semi-analytic finite horizon control of an underactuated manipulator
Research output: Contribution to book/Conference proceedings/Anthology/Report › Conference contribution › Contributed › peer-review
Contributors
Abstract
In this paper we propose a method to generate piecewise constant control within finite time horizon for a nonlinear system. Local (weak) controllability related to accessibility properties with piecewise constant control is analyzed and used directly for control purposes. More precisely, we concatenate flows of vector fields of the system to generate appropriate constant input values. The method is applied to an underactuated manipulator model which fails to meet the Brockett condition but possesses controllability properties which are also analyzed in this paper. Simulation results show the feasibility of this method.
Details
Original language | English |
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Title of host publication | 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 768-773 |
Number of pages | 6 |
ISBN (electronic) | 9781509012916 |
Publication status | Published - 18 May 2016 |
Peer-reviewed | Yes |
Publication series
Series | IEEE SSD International Multi-Conference on Systems, Signals and Devices |
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Conference
Title | 13th International Multi-Conference on Systems, Signals and Devices, SSD 2016 |
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Duration | 21 - 24 March 2016 |
City | Leipzig |
Country | Germany |
External IDs
ORCID | /0000-0002-3347-0864/work/142255202 |
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