TY - CHAP
T1 - Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties
T2 - Application to the cart-pole system
AU - Ghommam, Jawhar
AU - Chemori, Ahmed
AU - Mnif, Faiçal
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2018.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - Underactuated mechanical systems [13, 14, 27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.
AB - Underactuated mechanical systems [13, 14, 27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.
KW - Cart-pole system
KW - Control system analysis and synthesis methods
KW - Dynamic coupling
KW - Finite-time stabilization
KW - Nonintegrable dynamic constraints
KW - Pole assignment
KW - Stability
KW - Stability in control theory
KW - Unactuated generalized coordinates
KW - Uncertain systems
KW - Underactuated mechanical systems
UR - http://www.scopus.com/inward/record.url?scp=85058956491&partnerID=8YFLogxK
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U2 - 10.1049/PBCE111E_ch8
DO - 10.1049/PBCE111E_ch8
M3 - Chapter
AN - SCOPUS:85058956491
SP - 165
EP - 190
BT - The Inverted Pendulum in Control Theory and Robotics
PB - Institution of Engineering and Technology
ER -