Stabilization of a class of underactuated systems

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2000, Pages 2168-2173

  Rosas Flores, J Alfredo ^a   Alvarez Gallegos, Jaime ^a   Castro Linares, Rafael ^a  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; DIFFERENTIATION (CALCULUS); LAGRANGE MULTIPLIERS; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; MATRIX ALGEBRA; PARTIAL DIFFERENTIAL EQUATIONS; VECTORS;

EULER-LAGRANGE EQUATION; HOLONOMIC CONSTRAINTS; UNDERACTUATED SYSTEMS;

SYSTEM STABILITY;

EID: 0034438477     PISSN: 01912216     EISSN: None     Source Type: Journal    
DOI: 10.1109/CDC.2000.914116     Document Type: Article

References (11)

1. Stabilization of mechanical systems using controlled lagrangians
2. Nonlinear control via approximate input-output linearization: The ball and beam example
3. TORA example: Cascade- and passivity-based control designs
4. Passivity based control of the inverted pendulum
5. Constructive nonlinear control
6. Robot dynamics and control
7. The control of underactuated mechanical systems
8. The swingup control problem for the acrobot
9. Energy based control of a class of underactuated mechanical systems
10. Remarks on the time-optimal control of two-link mainipulators
11. Control of inverted pendulum systems based on approximate linerization: Design and experiment