Stabilization of Systems with One Degree of Underactuation with Energy Shaping: A Geometric Approach

DOI10.1137/09076698XzbMath1266.70048arXiv1002.2135OpenAlexW2962994406MaRDI QIDQ3097549

Bahman Gharesifard

Publication date: 10 November 2011

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1002.2135

zbMATH Keywords

feedbackintegrabilitygeometric controlclosed-loop metric

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Geometric methods (93B27) Control of mechanical systems (70Q05)

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