Stabilization of Underactuated Mechanical Systems: a Nonregular Backstepping Approach
نویسندگان
چکیده
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 and simulation tests are carried out for illustrating the effectiveness of the proposed approach.
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