Nonlinear control and reduction of underactuated systems with symmetry I: Actuated shape variables case

Proceedings of the IEEE Conference on Decision and Control

Volumn 5, Issue , 2001, Pages 4158-4163

  Olfati Saber, Reza ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CASCADE CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; LAGRANGE MULTIPLIERS;

KINETIC SYMMETRY; UNDERACTUATED MECHANICAL SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 0035705774     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. Normal forms for underactuated mechanical systems with symmetry
2. Global stabilization of a flat underactuated system: The inertia wheel pendulum
3. Nonlinear control and reduction of underactuated systems with symmetry II: Unactuated shape variables case
4. Dynamics and control of a class of underactuated mechanical systems
5. Remarks on stabilization and input-to-state stability
6. Underactuated mechanical systems
7. Energy based control of a class of underactuated mechanical systems
8. Global stabilization of the oscillating eccenteric rotor