Seminar Details
2012-03-06 (14.00) : Constructive Feedback Linearization Of Mechanical Systems With Friction and Underactuation Degree One
At Euler building
Organized by Mathematical Engineering
Speaker :
Lopez-Martinez, Manuel
Abstract :
In this talk we present a constructive methodology to
control a class of unstable underactuated mechanical systems
with underactuation degree one, by means of classical feedback
linearization and Lyapunov design. The design is presented
proposing a dummy output that allows to solve the problem in a constructive way.
We prove that the proposed output solves the problem obtaining
an explicit and compact control law.
The stability result of the obtained solution does
not change when taking into account the friction effects even in the
unactuated coordinate. The new result is applied to obtain a
(almost) global stabilizing scheme for the VTOL aircraft model
with strong input coupling.