Abstract
This paper proposes a controller design algorithm for the combination of under-actuated system control and U model control. First, the decoupling coordinate transformation of the under-actuated system greatly helps reduce the complexity of the system. Second, inspired by the principles of U model, the control law of under-actuated nonlinear system is established by using linear pole placement method and satisfies the desired performance indexes. Furthermore, the method is able to be widely applied to different under-actuated nonlinear systems as well. Finally, MATLAB simulation verification make the feasibility of the algorithm come true.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Modelling, Identification and Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
