Semi-analytic finite horizon control of an underactuated manipulator

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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 languageEnglish
Title of host publication13th International Multi-Conference on Systems, Signals and Devices, SSD 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages768-773
Number of pages6
ISBN (electronic)9781509012916
Publication statusPublished - 18 May 2016
Peer-reviewedYes

Publication series

SeriesIEEE SSD International Multi-Conference on Systems, Signals and Devices

Conference

Title13th International Multi-Conference on Systems, Signals and Devices, SSD 2016
Duration21 - 24 March 2016
CityLeipzig
CountryGermany

External IDs

ORCID /0000-0002-3347-0864/work/142255202