Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping
Jingjing Jiang, Alessandro Astolfi
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.
Topics & Concepts
UnderactuationControl theory (sociology)Nonlinear systemClass (philosophy)Inverted pendulumInertiaComputer sciencePendulumMathematicsEngineeringControl (management)Artificial intelligencePhysicsClassical mechanicsMechanical engineeringQuantum mechanicsControl and Stability of Dynamical SystemsDynamics and Control of Mechanical SystemsAdaptive Control of Nonlinear Systems