CDC2000 Analysis and Control of Underactuated Systems

Analysis and Control of Underactuated Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship Authors: Kristin Y. Pettersen, Henk Nijmeijer, Volume: 1, Page 2144 Paper number 1872 Abstract: We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented. CD001872.PDF (From Author) TOP Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics Authors: Aman Behal, Darren M. Dawson, Warren E. Dixon, Yongchun Fang, Volume: 1, Page 2150 Paper number 1128 Abstract: In this paper, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small (i.e., global uniformly ultimately bounded). The result is facilitated by fusing a filtered tracking error transformation with the design of a dynamic oscillator. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem. In addition, an extension is provided that illustrates that the proposed unified tracking/regulation controller can be applied to a twin rotor helicopter model. CD001128.PDF (From Author) TOP Robust Global Stabilization Of An Underactuated Marine Vehicle On A Linear Course By Smooth Time-Invariant Feedback Authors: Giovanni Indiveri, Michele Aicardi, Giuseppe Casalino, Volume: 1, Page 2156 Paper number 1071 Abstract: Robust global stabilization of an underactuated marine vehicle on a linear course by smooth time-invariant feedback Robust global stabilization of an underactuated marine vehicle on a linear course by smooth time-invariant feedback The stabilization of an underactuated marine vehicle on a linear course is considered. In spite of being controllable, standard tools of nonlinear control as feedback linearization cannot be applied. A smooth, time invariant, globally converging control solution is designed on the basis of a simple and novel idea to derive motion control laws for underactuated systems. Robustness with respect to model parameter uncertainty and state measurement errors is discussed both analytically and through simulations. CD001071.PDF (From Author) TOP Cascade Normal Forms For Underactuated Mechanical Systems Authors: Reza Olfati-Saber, Volume: 1, Page 2162 Paper number 1098 Abstract: In this paper, we introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms are partially linear which results from a well-known fact that underactuated systems can be partially linearized using a change of control (due to Spong 1996). The difficulty arises when the new control appears both in the linear and nonlinear subsystems. We introduce a method for decoupling these two subsystems by applying a change of coordinates that transforms the dynamics of the system into a cascade normal form with the property that control of the overall system reduces to control of its nonlinear subsystem. Under a symmetry condition on the inertia matrix of the system, this transformation can be obtained explicitly from the Lagrangian. This eventually leads to classification of underactuated systems. We provide several applications and two detailed examples of complex underactuated systems, namely, the Acrobot and the Rotating Pendulum. CD001098.PDF (From Author) TOP Stabilization of a Class of Underactuated Systems Authors: José Alfredo Rosas Flores, Jaime Alvarez-Gallegos, Rafael Castro Linares, Volume: 1, Page 2168 Paper number 60 Abstract: In this paper the problem of stabilization of a class of underactuated systems by using backstepping is considered. To use the backstepping technique a suitable change of coordinates is constructed. Using backstepping a simple control law is proposed; this control law ensures the origin to be asymptotically stable. The acrobot system is used to illustrate the application of the results obtained. CD000060.PDF (From Author) TOP On Passivity Based Control for Partial Stabilization of Underactuated Systems Authors: Anton S. Shiriaev, Olga Kolesnichenko, Volume: 1, Page 2174 Paper number 1932 Abstract: The stabilization problem for a class of an underactuated Lagrangian systems with respect to part of state variables is considered. It is assumed that this part of the state variables is directly affected by control. Moreover, on the rest of variables we impose additional constraints, based on the form of the total energy of the system, which should be valid after the transition time. Intuitively this can be interpreted as a decoupling, by suggested control strategy, the state variables into parts. To motivate this investigation, the problem of swinging the Pendubot is considered. CD001932.PDF (From Author) TOP