Under-actuated back-stepping: An introduction

Jiang, Jingjing; Astolfi, Alessandro

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Under-actuated back-stepping: An introduction

conference contribution

posted on 22.10.2018, 08:57 authored by Jingjing JiangJingjing Jiang, Alessandro Astolfi

The stabilization problem for a class of underactuated systems is solved. This is achieved via a novel backstepping based method that we call under-actuated backstepping. The method is developed for linear under-actuated systems first and then extended to nonlinear systems via an example. Numerical simulations are given to demonstrate the effectiveness of the proposed under-actuated back-stepping method.

Funding

This work has been done when Jingjing works in KIOS project and has been supported by the European Unions Horizon 2020 research and innovation programme under grant agreement No 739551 (KIOS CoE).

History

School

Aeronautical, Automotive, Chemical and Materials Engineering

Department

Aeronautical and Automotive Engineering

Published in

IEEE Conference on Decision and Control

Citation

JIANG, J. and ASTOLFI, A., 2018. Under-actuated back-stepping: An introduction. Presented at the 57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, 17-19 December 2018, pp. 5910 - 5915.

Publisher

Version

AM (Accepted Manuscript)

Acceptance date

13/07/2018

Publication date

2018

Notes

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