Control of underactuated mechanical systems via passivity-based and geometric techniques

摘要: Control of mechanical systems is currently among one the most active fields research, due to diverse applications in real life. The last decades have shown an increasing interest control underactuated systems. These are characterized by fact of possessing more degrees freedom than actuators, i.e., or of freedom unactuated. This class abundant real life; examples such include surface vessels, spacecraft, underwater vehicles, helicopters, road mobile robots, space robots and underactuated manipulators. The thesis focuses on different generalizations some existing results on this systems, given work A. Tornamb, R. Ortega J. W. Grizzle, who I collaborated with during three years. They been attained using techniques borrowed from two different approaches: passivity-based geometric ones. Three classes problems dealt with, namely: 1. Input-output decoupling for linear systems; 2. asymptotic stabilization arbitrary equilibria nonlinear mechanical systems underactuation degree one 3. exponential periodic orbits impulse effects, biped robot locomotion