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Underactuated Systems

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Nonlinear Control of Engineering Systems

Part of the book series: Control Engineering ((CONTRENGIN))

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Abstract

The engineering systems described in the previous chapters are fully actuated (the number of control inputs (actuators) equal the number of degrees of freedom). However, because of actuator failures or various construction constraints some applications are underactuated (the degrees of freedom exceed the number of control inputs). Underactuated systems present challenging control problems since the control design must typically exploit some coupling between the unactuated states and the actuated states to achieve the control objective. In the subsequent sections, the particular control issues related to the underactuated nature of several engineering applications are examined.

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Authors and Affiliations

  1. Engineering Science and Technology Division, Oak Ridge National Laboratory, Oak Ridge, TN, 37831, USA

    Warren E. Dixon

  2. Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, 29634-0915, USA

    Aman Behal & Darren M. Dawson

  3. Advanced Technology Group, MKS Instruments, Methuen, MA, 01844, USA

    Siddharth P. Nagarkatti

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  1. Warren E. Dixon
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  2. Aman Behal
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  4. Siddharth P. Nagarkatti
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Dixon, W.E., Behal, A., Dawson, D.M., Nagarkatti, S.P. (2003). Underactuated Systems. In: Nonlinear Control of Engineering Systems. Control Engineering. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0031-4_6

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  • DOI: https://doi.org/10.1007/978-1-4612-0031-4_6

  • Publisher Name: Birkhäuser, Boston, MA

  • Print ISBN: 978-1-4612-6581-8

  • Online ISBN: 978-1-4612-0031-4

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