Control methods for underactuated systems

Date

2024-1-19

Author

Acar, Yusuf

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Underactuated systems in the areas of aerospace, ground and marine vehicles have often been investigated during the last decades. The basic concept behind these systems is that the number of actuators is less than the number of degrees of freedom. Unlike previous works which do not consider holonomic and non-holonomic constraints in the problem definition and temporary underactuation, in this thesis these constraints will be used to find out actual or motion degree of freedom as well as definition of temporary underactuation. So, one of the remarkable notes is that the system can be underactuated at position level whereas acting fully actuated at velocity level depending on the non-holonomic constraints. Regarding control theory, underactuation needs to be defined by outputs. Control of underactuated systems still has open and challenging problems. Many researchers have focused on stabilization of underactuated systems primarily. States and outputs more in number than control inputs can be stabilizable. However, number of outputs to be tracked must be equal to number of control inputs. Hence the tracking control has recently become one of the most attractive areas in underactuated systems. In this thesis, systems are considered to classify their underactuated properties according to different definitions in different perspectives such as mechanisms and control. Stabilization and controllability are the first issues considered for the selected systems and then trackability is examined. In addition, this work also looks further into the so-to-speak indirect tracking in the acceptable range of error by studying whether there is a possible transformation to define new outputs that can be trackable and there is a possible control law such as switching or time sharing between the outputs that still outnumber the control inputs.

Subject Keywords

Underactuated Systems, Tracking Control, Trackability, Switching (Time Sharing) Control, Control via Quadratic Output Combination

URI

https://hdl.handle.net/11511/108412

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Graduate School of Natural and Applied Sciences, Thesis