Title :
Nonregular backstepping design of underactuated mechanical systems
Author :
Sun, Z. ; Ge, S.S. ; Lee, T.H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing nonregular static state feedback, these systems are transformed into a class of nonlinear systems with chain structures. Then, the 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
Keywords :
control system synthesis; nonlinear systems; robots; stability; state feedback; backstepping; chain structures; nonlinear systems; robotic system; stabilization; state feedback; underactuated mechanical systems; Backstepping; Control systems; Equations; Mechanical systems; Mechanical variables control; Nonlinear systems; Robots; State feedback; Sun; Tree data structures;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973859
