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Time Varying Deadbeat Control of High Order Chained Systems with Applications to the Control of Underactuated Manipulators

  • Tsutmou Mita
  • Teak Ken Nam
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Part of the Trends in Mathematics book series (TM)

Abstract

A new digital control method for a time varying sampled data system called a time varying deadbeat control is proposed to control high order nonholonomic chained systems with drift terms. This control law has a potential to avoid an excessive overshoot to prevent the trajectories from getting close to the singular manifolds of the transformation needed to obtain the chained forms. The control will be applied to the control of a three link underactuated manipulator.

Keywords

Nonholonomic system Underactuated manipulator Multirate digital control Time varying deadbeat control 

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Copyright information

© Springer Science+Business Media New York 2003

Authors and Affiliations

  • Tsutmou Mita
    • 1
  • Teak Ken Nam
    • 2
  1. 1.Department of Mechanical and Control SystemsTokyo Institute of TechnologyTokyoJapan
  2. 2.Mechatronics groupKorea Electrotechnology Research InstituteKyongnamKorea

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