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|Title:||Nonregular backstepping design of underactuated mechanical systems|
|Authors:||Sun, Z. |
|Citation:||Sun, Z.,Ge, S.S.,Lee, T.H. (2001). Nonregular backstepping design of underactuated mechanical systems. IEEE Conference on Control Applications - Proceedings : 173-178. ScholarBank@NUS Repository.|
|Abstract:||This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing nonregular static state feedbacks, these systems are transformed into a class of nonlinear 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:||IEEE Conference on Control Applications - Proceedings|
|Appears in Collections:||Staff Publications|
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