Variable Rate Deadbeat Control of High Order Nonholonomic Systems with Applications to the Control of Underactuated Mechanisms

Abstract

In this paper, the multirate digital control will be applied to the control of nonholonomic chained systems with multiple chains. Then a new method called a variable rate deadbeat control is proposed to control high order chained systems. This control has a potential to avoid an exessive overshoot and prevent the trajectories to pass close to the singular points of the transformation needed to obtain the chained forms. These control strategies will be applied to the posture control of an under water vehicle and underactuated manipulator.