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|Title:||Stabilization of underactuated mechanical systems: A non-regular backstepping approach|
|Authors:||Sun, Z. |
|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|
|Appears in Collections:||Staff Publications|
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