Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
journal contributionposted on 2021-04-01, 13:46 authored by Jingjing JiangJingjing Jiang, Alessandro Astolfi
The 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.
European Union’s Horizon 2020 research and innovation programme under grant agreement No 739551 (KIOS CoE)
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering