Stabilization and output tracking for underactuated mechanical systems with inequality state constraints

Tanner, HG; Kyriakopoulos, KJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:42:00Z
dc.date.available	2014-03-01T02:42:00Z
dc.date.issued	2001	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30723
dc.subject	Deformable Objects	en
dc.subject	State Constraints	en
dc.subject	underactuated mechanical system	en
dc.subject.other	Constraint theory	en
dc.subject.other	Control equipment	en
dc.subject.other	State feedback	en
dc.subject.other	System stability	en
dc.subject.other	Bounded tracking controllers	en
dc.subject.other	Linear systems	en
dc.title	Stabilization and output tracking for underactuated mechanical systems with inequality state constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/AIM.2001.936779	en
heal.identifier.secondary	http://dx.doi.org/10.1109/AIM.2001.936779	en
heal.publicationDate	2001	en
heal.abstract	The paper presents a method to determine the feasibility of stabilization to an equilibrium manifold or exact output tracking for underactuated mechanical systems that are subject to inequality state constraints. Even for minimum phase systems, internal dynamics may evolve in an unacceptable way and has to be confined within certain limits. Such restrictions arise in deformable object manipulation tasks. It is shown that the problem of output tracking under inequality state constraints is equivalent to output tracking with bounded input. The paper provides sufficient conditions for exact output tracking and stabilization to an equilibrium manifold that guarantee that internal dynamics is bounded with adjustable bounds.	en
heal.journalName	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM	en
dc.identifier.doi	10.1109/AIM.2001.936779	en
dc.identifier.volume	2	en
dc.identifier.spage	862	en
dc.identifier.epage	867	en