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Reports (Research Report) Year : 2006

Control with transverse functions and a single generator of underactuated mechanical systems

Abstract

The control of a class of underactuated mechanical systems on Lie groups is addressed, with the objective of stabilizing, in a practical sense, any (possibly non-admissible) reference trajectory in the configuration space. The present control design method extends a previous result by the authors to systems underactuated by more than one control. For example, it allows to address the case of a 3D-rigid body immersed in a perfect fluid with only three control inputs. The choice of the control parameters is also discussed in relation to the system's zero-dynamics.
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Dates and versions

inria-00070179 , version 1 (19-05-2006)

Identifiers

  • HAL Id : inria-00070179 , version 1

Cite

Pascal Morin, Claude Samson. Control with transverse functions and a single generator of underactuated mechanical systems. [Research Report] RR-5847, INRIA. 2006, pp.20. ⟨inria-00070179⟩
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