Control of mechanical systems with cyclic coordinates using higher order averaging

Amit Sanyal, Anthony M. Bloch, N. Harris McClamroch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The control and dynamics of complex mechanical systems with unactuated cyclic coordinates, using only internal controls, is treated here. The goal is to achieve full control-lability of the reduced dynamics obtained by eliminating the cyclic coordinates using standard Routh reduction. The reduced system is also underactuated. We use high frequency, high amplitude periodic inputs and the framework of chronological calculus and averaging theory, for this purpose. A feedback scheme based on this approach is applied to the example of a dumbbell body in planar motion with an attitude control input in a central gravitational field. From our earlier work on this model, based on linearization, we know that the system is controllable at its relative equilibria. This work supplements earlier research on the possible use of internal controls for orbital maneuvers of underactuated spacecraft.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages6835-6840
Number of pages6
Volume2005
DOIs
StatePublished - Dec 1 2005
Externally publishedYes
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sanyal, A., Bloch, A. M., & McClamroch, N. H. (2005). Control of mechanical systems with cyclic coordinates using higher order averaging. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (Vol. 2005, pp. 6835-6840). [1583261] https://doi.org/10.1109/CDC.2005.1583261