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

Marangoz A., KUTAY A. T.

8th International Conference on Mechanical and Aerospace Engineering (ICMAE), Prague, Çek Cumhuriyeti, 22 - 25 Temmuz 2017, ss.780-785 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Prague
  • Basıldığı Ülke: Çek Cumhuriyeti
  • Sayfa Sayıları: ss.780-785
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.