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Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 12، دوره 48، شماره 2، بهمن 2016، صفحه 111-122 اصل مقاله (1.28 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2016.836 | ||
| نویسندگان | ||
| Rouzbeh Moradi1؛ Alireza Alikhani* 2؛ Mohsen Fathi Jegarkandi3 | ||
| 1Ph.D. Student, Aerospace Research Institute, Ministry of Science, Research and Technology | ||
| 2Assistant Professor, Aerospace Research Institute, Ministry of Science, Research and Technology | ||
| 3Assistant Professor, Aerospace Department, Sharif University of Technology | ||
| چکیده | ||
| Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parameters to stabilize the unactuated states. These linear combinations make the underactuated system virtually fullyactuated, making it suitable to be stabilized with well-known nonlinear control methods, like feedback linearization. In addition to its simplicity, one of the main contributions of this method is that it can be applied to systems with more than one unactuated state. Three underactuated systems are considered: an asymmetric rigid body, a planar rigid body with an unactuated internal degree of freedom and a system with two degrees of underactuation. It is shown through simulations that the proposed control laws can be effectively used to stabilize the special form of underactuated systems considered. | ||
| کلیدواژه‌ها | ||
| Underactuation؛ Feedback linearization؛ State bisection | ||
| عنوان مقاله [English] | ||
| Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection | ||
| نویسندگان [English] | ||
| Rouzbeh Moradi1؛ Alireza Alikhani2؛ Mohsen Fathi Jegarkandi3 | ||
| 1Assistant Professor, Aerospace Department, Sharif University of Technology | ||
| 2Ph.D. Student, Aerospace Research Institute, Ministry of Science, Research and Technology | ||
| 3Assistant Professor, Aerospace Research Institute, Ministry of Science, Research and Technology | ||
| چکیده [English] | ||
| Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parameters to stabilize the unactuated states. These linear combinations make the underactuated system virtually fullyactuated, making it suitable to be stabilized with well-known nonlinear control methods, like feedback linearization. In addition to its simplicity, one of the main contributions of this method is that it can be applied to systems with more than one unactuated state. Three underactuated systems are considered: an asymmetric rigid body, a planar rigid body with an unactuated internal degree of freedom and a system with two degrees of underactuation. It is shown through simulations that the proposed control laws can be effectively used to stabilize the special form of underactuated systems considered. | ||
| کلیدواژه‌ها [English] | ||
| Underactuation, Feedback linearization, State bisection | ||
| مراجع | ||
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[17] Wang, D.; Jia, Y.; Jin, L. and Xu, S.; “Control Analysis of an Underactuated Spacecraft under Disturbance,” Acta Astronautica, Vol. 83, pp. 44-53, 2013.
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