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

Date

2017-07-25

Author

Marangoz, Alp
Kutay, Ali Türker

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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.

Subject Keywords

Nonlinear control systems, Adaptive control, Cascade systems, Underactuated systems

URI

https://hdl.handle.net/11511/55321

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Department of Aerospace Engineering, Conference / Seminar

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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.