Stabilization of a class of underactuated nonlinear systems via underactuated back-stepping
File(s)
Accepted version
Author(s)
Jiang, Jingjing
Astolfi, Alessandro
Type
Journal Article
Abstract
The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems. The properties of the resulting closed-loop systems are studied in detail and case studies are given to show the effectiveness of the proposed method.
Date Issued
2021-11-01
Date Acceptance
2020-12-14
Citation
IEEE Transactions on Automatic Control, 2021, 66 (11), pp.5429-5435
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers
Start Page
5429
End Page
5435
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
66
Issue
11
Copyright Statement
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000711740700034&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Wheels
Mechanical systems
Control systems
Trajectory
Closed loop systems
Lyapunov methods
Linear systems
Automatic control
control design
underactuated back-stepping
underactuated nonlinear system
PASSIVITY-BASED CONTROL
MECHANICAL SYSTEMS
INTERCONNECTION
LINEARIZATION
DESIGN
Publication Status
Published