Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
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Publication:5958564
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)
passivity; feedback transformation; partial stabilization; Pendubot; underactuated Lagrangian system
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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