A Control System Architecture for Control of Non-Affine in Control, Open-Loop Unstable Underactuated Systems

2017-07-25
Marangoz, Alp
Kutay, Ali Türker
In this paper, a control system architecture for control of non-affine in control, open-loop unstable underactuated system is discussed. Passivization of the unactuated (internal) system dynamics achieved through perturbation of trajectories of the actuated states, which are calculated through adaptive dynamic inversion technique, based on Tikhonov's theorem. Performance of the controller is shown through simulation of two open-loop unstable and locally uncontrollable example problems.

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Citation Formats
A. Marangoz and A. T. Kutay, “A Control System Architecture for Control of Non-Affine in Control, Open-Loop Unstable Underactuated Systems,” 2017, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55321.