paper1.pdf (1.75 MB)
Download fileStabilization 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