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The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the… Click to show full abstract
The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems. The properties of the resulting closed-loop systems are studied in detail and case studies are given to show the effectiveness of the proposed method.
Keywords:
stabilization;
back stepping;
underactuated back;
nonlinear systems;
class underactuated
Journal Title: IEEE Transactions on Automatic Control
Year Published: 2021
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Journal Title: IEEE Transactions on Automatic Control
Year Published: 2021
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!