Title :
Stabilization of a class of underactuated systems
Author :
Flores, J. Alfredo Rosas ; Alvarez-Gallegos, Jaime ; Castro-Linares, R.
Author_Institution :
Dept. de Ing. Electr., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
The problem of stabilization of a class of underactuated systems by using backstepping is considered. To use the backstepping technique a suitable change of coordinates is constructed. Using backstepping a simple control law is proposed; this control law ensures the origin is asymptotically stable. The acrobot system is used to illustrate the application of the results obtained
Keywords :
Lyapunov methods; asymptotic stability; manipulators; acrobot system; backstepping; stabilization; underactuated systems; Backstepping; Control systems; Differential equations; Laboratories; Mechanical systems; Optimal control; Prototypes; Robot kinematics; Robust control; Tin;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914116
