Dynamics and control of a class of underactuated mechanical systems

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs tha n degrees of freedom. Control system formulation of underactuated mechanica l systems is addressed and a class of underactuated systems characterized b y nonintegrable dynamics relations is identified. Controllability and stabi lizability results are derived for this class of underactuated systems. Exa mples are included to illustrate the results; these examples are of underac tuated mechanical systems that are not linearly controllable or smoothly st abilizable.