Author
N.H. McClamroch
Other affiliations: Worcester Polytechnic Institute, University of Texas at Austin
Bio: N.H. McClamroch is an academic researcher from University of Michigan. The author has contributed to research in topics: Nonlinear system & Control system. The author has an hindex of 30, co-authored 118 publications receiving 6317 citations. Previous affiliations of N.H. McClamroch include Worcester Polytechnic Institute & University of Texas at Austin.
Papers published on a yearly basis
Papers
More filters
21 Jun 1998
TL;DR: In this paper, the authors introduce a new approach in which a multivariable nonlinear control system is decomposed into two parts: a minimum phase part and a non-minimum phase part.
Abstract: It is common wisdom that if a multivariable nonlinear system, affine in the controls, is non-minimum phase then dynamic inversion is not applicable for output tracking. We introduce a new approach in which a multivariable nonlinear control system is decomposed into two parts: a minimum phase part and a non-minimum phase part. For the minimum phase part dynamic inversion can be used to achieve output tracking. The non-minimum phase part can be suitably controlled by linear feedback, but the decomposition often leads to a simpler non-minimum phase problem than the original. It is necessary to restrict the class of output commands to be tracked according to the properties of the non-minimum phase part. These restrictions are identified by using results from robust control theory for commands that are perturbations of a command corresponding to a closed loop equilibrium.
12 citations
TL;DR: In this article, it is shown that these two concepts are distinct and some of the ramifications of the two concepts of invariance are discussed, and that they can be used to define different definitions of invariant systems.
12 citations
13 Dec 1995
TL;DR: Hybrid feedback controllers are developed for stabilization of nonholonomic Chaplygin systems with linear base space dynamics to an equilibrium by switching from one periodic input to another at discrete-time instants to achieve stabilization.
Abstract: Hybrid feedback controllers are developed for stabilization of nonholonomic Chaplygin systems with linear base space dynamics to an equilibrium. The controllers operate by switching from one periodic input to another at discrete-time instants to achieve stabilization. As an application we consider stabilization of nonholonomic systems in kinematic power form. Hybrid controllers for stabilization of trajectories of nonholonomic control systems are also developed. A numerical example is reported.
12 citations
10 Dec 2002
TL;DR: In this article, the TACT states are not small-time locally controllable at equilibrium, but a weaker configuration controllability and equilibrium control property may be satisfied at an equilibrium.
Abstract: Local configuration controllability and local equilibrium controllability of the Triaxial attitude control testbed (TACT) are studied The TACT is controlled only by a class of actuators referred to as shape actuators This implies that there is a conserved quantity and there is a base body equilibrium manifold at each fixed shape Thus, the TACT states are not small time locally controllable at equilibrium But a weaker configuration controllability and equilibrium controllability property may be satisfied at an equilibrium Important symmetric product formulas and properties are obtained These properties explicitly show dynamic coupling and symmetry of the TACT Based on these properties, local equilibrium controllability analysis is carried out for the TACT with fully actuated shape variables Sufficient conditions for local equilibrium controllability are presented for three examples
11 citations
14 Dec 1994
TL;DR: In this article, the authors present sufficient conditions that a class of third order nonlinear control systems with a time-dependent drift is controllable in a slab, assuming that the controllability conditions are satisfied, they construct a control function which steers the system from an arbitrary initial state in the slab to an arbitrary final state in a given period of time.
Abstract: Presents sufficient conditions which guarantee that a class of third order nonlinear control systems with a time-dependent drift is controllable in a slab. Assuming that the controllability conditions are satisfied the authors construct a control function which steers the system from an arbitrary initial state in the slab to an arbitrary final state in the slab over a given period of time. >
11 citations
Cited by
More filters
Book•
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises
6,592 citations
TL;DR: In this paper, the authors survey three basic problems regarding stability and design of switched systems, including stability for arbitrary switching sequences, stability for certain useful classes of switching sequences and construction of stabilizing switching sequences.
Abstract: By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. The article surveys developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.
3,566 citations
Journal Article•
[...]
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.
1,814 citations
01 Jul 2000
TL;DR: In this paper, the authors introduce the concept of hybrid systems and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable systems and finding conditions for the existence of switched controllers for stabilizing switched unstable systems.
Abstract: This paper introduces the concept of a hybrid system and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable systems and finding conditions for the existence of switched controllers for stabilizing switched unstable systems. In this endeavour, this paper surveys the major results in the (Lyapunov) stability of finite-dimensional hybrid systems and then discusses the stronger, more specialized results of switched linear (stable and unstable) systems. A section detailing how some of the results can be formulated as linear matrix inequalities is given. Stability analyses on the regulation of the angle of attack of an aircraft and on the PI control of a vehicle with an automatic transmission are given. Other examples are included to illustrate various results in this paper.
1,647 citations
TL;DR: Nonholonomic control systems as discussed by the authors provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole.
Abstract: Provides a summary of recent developments in control of nonholonomic systems. The published literature has grown enormously during the last six years, and it is now possible to give a tutorial presentation of many of these developments. The objective of this article is to provide a unified and accessible presentation, placing the various models, problem formulations, approaches, and results into a proper context. It is hoped that this overview will provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole. The paper is organized as follows: introduction to nonholonomic control systems and where they arise in applications, classification of models of nonholonomic control systems, control problem formulations, motion planning results, stabilization results, and current and future research topics.
1,269 citations