Stabilization for a class of underactuated mechanical systems

F. Mnif, J. Ghommem

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.

Original languageEnglish
Pages (from-to)472-475
Number of pages4
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume6
Publication statusPublished - 2002

Fingerprint

Stabilization
Nonlinear feedback
Pendulums
Controllers

Keywords

  • Nontriangular form
  • Stabilization
  • Underactuated
  • Whirling Pendulum

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

Cite this

Stabilization for a class of underactuated mechanical systems. / Mnif, F.; Ghommem, J.

In: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Vol. 6, 2002, p. 472-475.

Research output: Contribution to journalArticle

@article{fd3b55ad325a49b38185e54739a5b5d4,
title = "Stabilization for a class of underactuated mechanical systems",
abstract = "In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.",
keywords = "Nontriangular form, Stabilization, Underactuated, Whirling Pendulum",
author = "F. Mnif and J. Ghommem",
year = "2002",
language = "English",
volume = "6",
pages = "472--475",
journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",
issn = "0884-3627",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Stabilization for a class of underactuated mechanical systems

AU - Mnif, F.

AU - Ghommem, J.

PY - 2002

Y1 - 2002

N2 - In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.

AB - In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.

KW - Nontriangular form

KW - Stabilization

KW - Underactuated

KW - Whirling Pendulum

UR - http://www.scopus.com/inward/record.url?scp=0036966855&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036966855&partnerID=8YFLogxK

M3 - Article

VL - 6

SP - 472

EP - 475

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

SN - 0884-3627

ER -