Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations

DOI10.1016/S0167-6911(01)00170-0zbMath0987.93065MaRDI QIDQ5958564

Shiriaev, Anton S., O. Kolesnichenko

Publication date: 3 March 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(01)00170-0

zbMATH Keywords

passivity; feedback transformation; partial stabilization; Pendubot; underactuated Lagrangian system

Mathematics Subject Classification ID

93D15: Stabilization of systems by feedback

93C85: Automated systems (robots, etc.) in control theory

70Q05: Control of mechanical systems

93B17: Transformations

70H03: Lagrange's equations

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