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, Czech Republic, 22 - 25 July 2017, pp.780-785, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Prague
  • Country: Czech Republic
  • Page Numbers: pp.780-785
  • Middle East Technical University Affiliated: Yes

Abstract

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.