TY - JOUR
T1 - Control of nonlinear underactuated systems
AU - Auckly, David
AU - Kapitanski, Lev
AU - White, Warren
PY - 2000/3
Y1 - 2000/3
N2 - 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.
AB - 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.
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U2 - 10.1002/(SICI)1097-0312(200003)53:3<354::AID-CPA3>3.0.CO;2-U
DO - 10.1002/(SICI)1097-0312(200003)53:3<354::AID-CPA3>3.0.CO;2-U
M3 - Article
AN - SCOPUS:0034387896
VL - 53
SP - 354
EP - 369
JO - Communications on Pure and Applied Mathematics
JF - Communications on Pure and Applied Mathematics
SN - 0010-3640
IS - 3
ER -