DocumentCode
404721
Title
Control of underactuated mechanical systems with drift using higher-order averaging theory
Author
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution
Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Volume
3
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
3111
Abstract
This paper uses a recently developed generalized averaging theory [P.A. Vela and J.W. Burdick, 2003] to develop stabilizing control laws for a large class of nonlinear systems with drift. These control laws exponentially stabilize in the average.
Keywords
higher order statistics; nonlinear control systems; stability; higher-order averaging theory; nonlinear systems; stabilizing control laws; underactuated mechanical systems; Control systems; Differential equations; Ear; Feedback; Mechanical systems; Motion control; Nonlinear control systems; Nonlinear systems; Postal services; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1273101
Filename
1273101
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