Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping

• 成果类型: Article
• 署名作者: Jiangand, Jingjing; Astolfi, Alessandro
• 署名单位: Loughborough University; Imperial College London; University of Rome Tor Vergata
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3044531
• 发表日期: 2021
• 页码: 5429-5435
• 关键词: Wheels; mechanical systems; control systems; trajectory; Closed loop systems; Lyapunov methods; Linear systems; Automatic control; control design; underactuated back-stepping; underactuated nonlinear system

摘要

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.