Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system

Jawhar Ghommam, Ahmed Chemori, Faiçal Mnif

نتاج البحث

1 اقتباس (Scopus)

ملخص

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.

اللغة الأصليةEnglish
عنوان منشور المضيفThe Inverted Pendulum in Control Theory and Robotics
ناشرInstitution of Engineering and Technology
الصفحات165-190
عدد الصفحات26
رقم المعيار الدولي للكتب (الإلكتروني)9781785613203
المعرِّفات الرقمية للأشياء
حالة النشرPublished - يناير 1 2018

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