Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207170110052248
Title: Stabilization of underactuated mechanical systems: A non-regular backstepping approach
Authors: Sun, Z. 
Ge, S.S. 
Lee, T.H. 
Issue Date: 20-Jul-2001
Citation: Sun, Z., Ge, S.S., Lee, T.H. (2001-07-20). Stabilization of underactuated mechanical systems: A non-regular backstepping approach. International Journal of Control 74 (11) : 1045-1051. ScholarBank@NUS Repository. https://doi.org/10.1080/00207170110052248
Abstract: This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing non-regular static state feedbacks, these systems are transformed into a class of non-linear systems with chain structures. Then, controller design is presented by applying the backstepping design technique. The design procedure is applied to an underactuated robotic system and simulation tests are carried out for illustrating the effectiveness of the proposed approach.
Source Title: International Journal of Control
URI: http://scholarbank.nus.edu.sg/handle/10635/57508
ISSN: 00207179
DOI: 10.1080/00207170110052248
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