Control of underactuated mechanical systems using high frequency input

Abstract

This paper describes an approach to closed-loop control of a class of underactuated mechanical systems using a high frequency periodic input whose amplitude is modulated through feedback. The approach makes use of the averaging theorem and the time scale separation between the high frequency forcing and the low frequency amplitude modulation. The paper… (More)

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Cite this paper

@article{Tahmasian2013ControlOU, title={Control of underactuated mechanical systems using high frequency input}, author={Sevak Tahmasian and Haithem E. Taha and Craig A. Woolsey}, journal={2013 American Control Conference}, year={2013}, pages={603-608} }