Stabilization of underactuated mechanical systems: a non-regular backstepping approach

被引：0
|
作者：
Sun, ZD [1 ]
Ge, SS [1 ]
Lee, TH [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2001年 / 74卷 / 11期
关键词：
D O I：
10.1080/00207170110052248
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing non-regular static state feedbacks, these systems are transformed into a class of non-linear 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.
引用
收藏
页码：1045 / 1051
页数：7
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