Title :
Global stabilization of uncertain underactuated mechanical systems
Author :
Barany, Ernest ; Colbaugh, Richard
Author_Institution :
Dept. of Math. Sci., New Mexico State Univ., Las Cruces, NM, USA
Abstract :
Continues the study of the problem of globally stabilizing a mechanical system with unknown potential and inertial structure and without the need for velocity measurements or large forces. The paper describes an extension of work by the authors (1995, 1998) pertaining to fully actuated mechanical systems to an important class of underactuated systems
Keywords :
asymptotic stability; feedback; robots; uncertain systems; cascade systems; global stabilization; uncertain underactuated mechanical systems; Adaptive control; Control systems; Damping; Equations; Feedback; Force control; Mechanical systems; Programmable control; Three-term control; Velocity measurement;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.762044
