Stabilization of underactuated mechanical systems: A non-regular back-stepping approach

DOI10.1080/00207170110052248zbMath1017.93072OpenAlexW2032760589WikidataQ57528009 ScholiaQ57528009MaRDI QIDQ3151435

Zhendong Sun, Tong-Heng Lee, Shuzhi Sam Ge

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170110052248

zbMATH Keywords

backsteppingcontroller designunderactuated mechanical systemschain structurerobotic systemtree structuresnon-regular feedbacktwo flexible revolute joints

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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