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Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/71164
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dc.titleNonregular backstepping design of underactuated mechanical systems
dc.contributor.authorSun, Z.
dc.contributor.authorGe, S.S.
dc.contributor.authorLee, T.H.
dc.date.accessioned2014-06-19T03:20:37Z
dc.date.available2014-06-19T03:20:37Z
dc.date.issued2001
dc.identifier.citationSun, 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.
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/71164
dc.description.abstractThis 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.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitleIEEE Conference on Control Applications - Proceedings
dc.description.page173-178
dc.description.codenICOAE
dc.identifier.isiutNOT_IN_WOS
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