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

DOI10.1080/00207170110052248MaRDI QIDQ3151435zbMATH OpenOpenAlexWikidataFDO

Authors Zhendong Sun, Shuzhi Sam Ge, Tong Heng Lee

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

backsteppingchain structurecontroller designnon-regular feedbackrobotic systemtree structurestwo flexible revolute jointsunderactuated mechanical systems

Mathematics Subject Classification ID

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

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• Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance
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• Sliding mode control of underactuated multibody systems and its application to shape change control

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