Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
journal contribution
posted on 2021-04-01, 13:46 authored by Jingjing JiangJingjing Jiang, Alessandro AstolfiThe stabilization problem for a class of nonlinear
systems is solved via a novel method inspired by back-stepping.
The method, that we call under-actuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel
pendulum and it is then developed for a class of under-actuated
mechanical systems. The properties of the resulting closed-loop
systems are studied in detail and case studies are given to show
the effectiveness of the proposed method.
Funding
European Union’s 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 Transactions on Automatic ControlVolume
66Issue
11Pages
5429-5435Publisher
Institute of Electrical and Electronics Engineers (IEEE)Version
- AM (Accepted Manuscript)
Rights holder
© IEEEPublisher statement
Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Acceptance date
2020-12-10Publication date
2020-12-14Copyright date
2020ISSN
0018-9286eISSN
1558-2523Publisher version
Language
- en
