Control of underactuated mechanical systems with two degrees of freedom and symmetry

Proceedings of the American Control Conference

Volumn 6, Issue , 2000, Pages 4092-4096

  Olfati Saber, Reza ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL DESIGN; FEEDBACK STRUCTURE; GLOBAL ASYMPTOTIC STABILIZATIONS; NONLINEAR SUBSYSTEMS; STABILIZING CONTROL LAW; TWO DEGREES OF FREEDOM; UNACTUATED DEGREES; UNDER-ACTUATED MECHANICAL SYSTEMS;

CONTROL THEORY; DEGREES OF FREEDOM (MECHANICS); MATHEMATICAL TRANSFORMATIONS; MECHANICAL ENGINEERING; MECHANICS; ACTUATORS; ASYMPTOTIC STABILITY; FEEDBACK CONTROL; LAGRANGE MULTIPLIERS; LINEARIZATION; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; ROBOTS;

BACKSTEPPING; CONTROL SYSTEM SYNTHESIS;

GLOBAL ASYMPTOTIC STABILIZATION; GLOBALLY STABILIZING CONTROL LAWS; INERTIA MATRIX; LAGRANGIAN REDUCTION; UNDERACTUATED MECHANICAL SYSTEMS;

EID: 0034545592     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2000.876991     Document Type: Conference Paper

References (3)

1. M. Krstik, I. Kanellakopoulos, and P. Kokotovik. Nonlinear and Adaptive Control Design. John Wiley & Sons, 1995.
2. R. Olfati-Saber and A. Megretski. "Controller design for a class of underactuted nonlinear Systems". Proceedings of the 37th Conference on Decision and Control, pages 4182-4187, Tampa, FL, Dec. 1998.
3. M. W. Spong. "Energy Based Control of a Class of Underactuated Mechanical Systems". 1996 IFAC World Congress, July 1996.