Constructive immersion and invariance stabilization for a class of underactuated mechanical systems

DOI10.1016/j.automatica.2013.01.059zbMath1319.93066OpenAlexW1963644541MaRDI QIDQ490622

Arun D. Mahindrakar, Ioannis Sarras, Jose Ángel Acosta, Romeo S. Ortega

Publication date: 27 August 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2013.01.059

zbMATH Keywords

stabilizationmechanical systemsinvariant manifoldsnonlinear control systemssystem immersion

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Kinematics of mechanisms and robots (70B15)

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