Title :
A hybrid switching control strategy for nonlinear and underactuated mechanical systems
Author :
Zhang, Mingjun ; Tarn, Tzyh-Jong
Abstract :
This note presents a hybrid switching control strategy for nonlinear and underactuated mechanical systems. Sufficient conditions for constructing the hybrid switching control, stability proof, and experimental results for using the hybrid switching control are given.
Keywords :
nonlinear dynamical systems; robust control; hybrid control; hybrid switching control; nonlinear mechanical systems; nonlinear systems; stability; underactuated mechanical systems; Adaptive control; Automatic control; Control systems; Linear feedback control systems; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; PD control; Proportional control; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.817911
