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

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-act...

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Main Authors:	Jingjing Jiang, Alessandro Astolfi
Format:	Default Article
Published:	2020
Subjects:	Mechanical engineering not elsewhere classified Industrial Engineering & Automation Applied Mathematics Electrical and Electronic Engineering Mechanical Engineering
Online Access:	https://hdl.handle.net/2134/14339600.v1
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id	rr-article-14339600
record_format	Figshare
spelling	rr-article-143396002020-12-14T00:00:00Z Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping Jingjing Jiang (5731739) Alessandro Astolfi (7120631) Mechanical engineering not elsewhere classified Industrial Engineering & Automation Applied Mathematics Electrical and Electronic Engineering Mechanical Engineering 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. 2020-12-14T00:00:00Z Text Journal contribution 2134/14339600.v1 https://figshare.com/articles/journal_contribution/Stabilization_of_a_class_of_under-actuated_nonlinear_systems_via_under-actuated_back-stepping/14339600 All Rights Reserved
institution	Loughborough University
collection	Figshare
topic	Mechanical engineering not elsewhere classified Industrial Engineering & Automation Applied Mathematics Electrical and Electronic Engineering Mechanical Engineering
spellingShingle	Mechanical engineering not elsewhere classified Industrial Engineering & Automation Applied Mathematics Electrical and Electronic Engineering Mechanical Engineering Jingjing Jiang Alessandro Astolfi Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
description	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.
format	Default Article
author	Jingjing Jiang Alessandro Astolfi
author_facet	Jingjing Jiang Alessandro Astolfi
author_sort	Jingjing Jiang (5731739)
title	Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
title_short	Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
title_full	Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
title_fullStr	Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
title_full_unstemmed	Stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
title_sort	stabilization of a class of under-actuated nonlinear systems via under-actuated back-stepping
publishDate	2020
url	https://hdl.handle.net/2134/14339600.v1
_version_	1797277393715462144

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

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