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

页码：1045 / 1051

页数：7

共 50 条

[41] A non-regular Grobner fan
Jensen, Anders Nedergaard
DISCRETE & COMPUTATIONAL GEOMETRY, 2007, 37 (03) : 443 - 453
[42] On hyperbolic equations and systems with non-regular time dependent coefficients
Garetto, Claudia
JOURNAL OF DIFFERENTIAL EQUATIONS, 2015, 259 (11) : 5846 - 5874
[43] Trajectory Tracking Control of a Class of Underactuated Mechanical Systems with Nontriangular Normal Form Based on Block Backstepping Approach
Mohammad-Reza Moghanni-Bavil-Olyaei
Ahmad Ghanbari
Jafar Keighobadi
Journal of Intelligent & Robotic Systems, 2019, 96 : 209 - 221
[44] Trajectory Tracking Control of a Class of Underactuated Mechanical Systems with Nontriangular Normal Form Based on Block Backstepping Approach
Moghanni-Bavil-Olyaei, Mohammad-Reza
Ghanbari, Ahmad
Keighobadi, Jafar
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 96 (02) : 209 - 221
[45] Robust stabilization and disturbance attenuation for a class of underactuated mechanical systems
Xu-zhi Lai
Chang-zhong Pan
Min Wu
Jin-hua She
Simon X. Yang
Journal of Central South University, 2012, 19 : 2488 - 2495
[46] Hybrid Stabilization of Closed Orbits for a Class of Underactuated Mechanical Systems
Navarro, Luiz
Maggiore, Manfredi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2024, 69 (10) : 6864 - 6879
[47] Stabilization and set-point regulation of underactuated mechanical systems
Loccufier, Mia
13TH INTERNATIONAL CONFERENCE ON MOTION AND VIBRATION CONTROL (MOVIC 2016) AND THE 12TH INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN STRUCTURAL DYNAMICS (RASD 2016), 2016, 744
[48] Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems
Saetre, Christian Fredrik
Shiriaev, Anton
Pchelkin, Stepan
Chemori, Ahmed
2020 EUROPEAN CONTROL CONFERENCE (ECC 2020), 2020, : 895 - 900
[49] Sliding mode control design for stabilization of underactuated mechanical systems
Idrees, Muhammad
Ullah, Saif
Muhammad, Shah
ADVANCES IN MECHANICAL ENGINEERING, 2019, 11 (05)
[50] Robust stabilization and disturbance attenuation for a class of underactuated mechanical systems
赖旭芝
潘昌忠
吴敏
佘锦华
Simon X.YANG
JournalofCentralSouthUniversity, 2012, 19 (09) : 2488 - 2495

← 1 2 3 4 5 →