Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping
نویسندگان
چکیده
The stabilization problem for a class of nonlinear systems is solved via novel method inspired by back-stepping. method, that we call underactuated back-stepping, introduced solving the an inertia wheel pendulum and it then developed mechanical systems. properties resulting closed-loop are studied in detail case studies given to show effectiveness proposed method.
منابع مشابه
Controller Design for a Class of Underactuated Nonlinear Systems
In this paper, we design a controller for a class of underactuated nonlinear systems. First, we try to find an appropriate global change of coordinates to transform the dynamics of the system into a desired form which consists of a lower order nonlinear subsystem plus a chain of integrators. Then, we find a control Lyapunov function (CLF) and its associated control law for the lower order subsy...
متن کاملControl of Nonlinear Underactuated Systems
In this paper we introduce a new method to design control laws for non-linear un-deractuated systems. Our method will often work in situations where standard control techniques fail. Even when standard techniques apply, we believe that our approach will achieve better performance. This is because we produce an infinite dimensional family of control laws, whereas most control techniques only pro...
متن کاملStabilization of Underactuated Mechanical Systems via Interconnection and Damping Assignment
Passivity{based control (PBC) is a well{established structure{preserving design methodology which has shown to be very powerful to design robust controllers for physical systems described by Euler{Lagrange equations of motion. For regulation problems of mechanical systems it provides a natural procedure to \shape" the potential energy yielding controllers with a clear physical interpretation. I...
متن کاملStabilization of a class of underactuated mechanical systems via interconnection and damping assignment
In this paper we consider the application of a new formulation of Passivity Based Control, known as Interconnection and Damping Assignment, or IDA-PBC, to the problem of stabilization of underactuated mechanical systems, which requires the modification of both the potential and the kinetic energies. Our main contribution is the characterization of a class of systems for which IDA-PBC yields a s...
متن کاملStabilization of Underactuated Mechanical Systems: a Nonregular Backstepping Approach
This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing nonregular static state feedbacks, these systems are transformed into a class of nonlinear systems with chain structures. Then, controller design is presented by applying the backstepping design technique. The design procedure is applied to an underactuated robotic system an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2021
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2020.3044531