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Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping

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journal contribution
posted on 01.04.2021, 13:46 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.

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 Control

Volume

66

Issue

11

Pages

5429-5435

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher 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

10/12/2020

Publication date

2020-12-14

Copyright date

2020

ISSN

0018-9286

eISSN

1558-2523

Language

en

Depositor

Dr Jingjing Jiang. Deposit date: 30 March 2021