In this paper we introduce a new method to design control laws for nonlinear, underactuated systems. Our method produces an infinite-dimensional family of control laws, whereas most control techniques only produce a finite-dimensional family. These control laws each come with a natural Lyapunov function. The inverted pendulum cart is used as an example. In addition, we construct an abstract system that is open-loop unstable and cannot be stabilized using any linear control law and demonstrate that our method produces a stabilizing control law.
|Original language||English (US)|
|Number of pages||16|
|Journal||Communications on Pure and Applied Mathematics|
|State||Published - Mar 2000|
ASJC Scopus subject areas
- Applied Mathematics