Abstract
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) |
|---|---|
| Pages (from-to) | 354-369 |
| Number of pages | 16 |
| Journal | Communications on Pure and Applied Mathematics |
| Volume | 53 |
| Issue number | 3 |
| DOIs | |
| State | Published - Mar 2000 |
| Externally published | Yes |
ASJC Scopus subject areas
- Mathematics(all)
- Applied Mathematics
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Cite this
Auckly, D., Kapitanski, L., & White, W. (2000). Control of nonlinear underactuated systems. Communications on Pure and Applied Mathematics, 53(3), 354-369. https://doi.org/10.1002/(SICI)1097-0312(200003)53:3<354::AID-CPA3>3.0.CO;2-U