Abstract
Stabilization of an equilibrium point is an important control problem for underactuated systems. For a given control design, the ability of the system to remain stable in the presence of disturbances depends on the size of the region of attraction of the stabilized equilibrium. The sum of squares and trajectory reversing methods are combined together to generate a large estimate of the region of attraction. Then, this estimate is effectively enlarged by applying the impulse manifold method, which can stabilize equilibria from points lying outside the estimated region of attraction. In this paper, the generality of the approach is demonstrated using simulations of a three-link underactuated system. Experimental validation using the pendubot is provided to demonstrate the feasibility of practical implementation.
Recommended Citation
N. Kant et al., "Estimation of the Region of Attraction of Underactuated Systems and its Enlargement using Impulsive Inputs," IEEE Transactions on Robotics, vol. 35, no. 3, pp. 618 - 632, article no. 8640080, Institute of Electrical and Electronics Engineers, Jun 2019.
The definitive version is available at https://doi.org/10.1109/TRO.2019.2893599
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
High-gain feedback; impulse manifold method (IMM); impulsive control; region of attraction; sum of squares (SOS) method; trajectory reversing; underactuated systems
International Standard Serial Number (ISSN)
1941-0468; 1552-3098
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jun 2019
Comments
National Science Foundation, Grant CMMI-1462118