NDLI: Output feedback stabilization control for underactuated mechanical systems

Content Provider	IEEE Xplore Digital Library
Author	Xu Liang Hu Qinglei Ma Guangfu
Copyright Year	2012
Description	Author affiliation: Dept. Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China (Xu Liang; Hu Qinglei; Ma Guangfu)
Abstract	This paper is focused on the output feedback stabilization control problems for a special class of underactuated mechanical systems, which appear in robotics and aerospace applications. For the synthesis of controller, firstly, the considered underactuated mechanical system is explicitly transformed into two cascade connected subsystems, and then an auxiliary filter based virtual stabilization controller is developed to locally asymptotically stabilize the first subsystem. Further, the designed virtual controller is again involved into the second subsystem using backstepping procedure to construct the actual control law. Lyapunov analysis shows the local asymptotic stability of the closed-loop system. Simulation results are presented by using a benchmark nonlinear underactuated mechanical system to prove the feasibility and the effectiveness of the proposed controller.
Starting Page	4267
Ending Page	4272
File Size	187203
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Asymptotic stability Backstepping finite-time observer Observers backstepping Stability analysis Mechanical systems output feedback Output feedback Robots underactuated mechanical systems
Content Type	Text
Resource Type	Article

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