Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Motion control algorithms for mechanical systems with symmetry
S. Martínez, J. Cortés
Acta Applicandae Mathematicae 76 (3) (2003), 221-264
Abstract
We treat underactuated mechanical control systems with symmetry taking
the viewpoint of the affine connection formalism. We first review the
appropriate notions and tests of controllability associated with these
systems, including that of fiber controllability. Secondly, we present
a series expansion describing the evolution of the trajectories of
general mechanical control systems starting from non-zero
velocity. This series is then used to investigate the behavior of the
system under small-amplitude periodic forcing. On this basis, motion
control algorithms are designed for systems with symmetry to solve the
tasks of point-to-point reconfiguration, static interpolation and
stabilization problems. Several examples are given and the performance
of the algorithms is illustrated in the blimp system.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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