Partial feedback linearization of underactuated mechanical systems
Top Cited Papers
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 314-321
- https://doi.org/10.1109/iros.1994.407375
Abstract
Things as actuator dynamics in the model description. In this paper we discuss .the partial feedback lin- earization control of underactuated mechanical sys- tems. We consider an n degree of freedom system having m actuated, or active, degrees of freedom and B = n - m unactuated, or passive, degrees of freedom. It is known that the portion of the dynamics corre- sponding to the active degrees of freedom may be lin- earized by nonlinear feedback. In this paper we show, alternatively, that the portion of the dynamics corre- sponding to the passive degrees of freedom may be lin- earized by nonlinear feedback under a condition that we call Strong Inertial Coupling. We derive and ana- lyze the resulting zero dynamics which are crucial to an understanding of the response of the overall system. Simulation results are presented showing the perfor- mance of two link underactuated robots under partial feedback linearization control.Keywords
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