Control of nonlinear underactuated systems

David Auckly, Lev Kapitanski, Warren White

Research output: Contribution to journalArticle

103 Citations (Scopus)

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 languageEnglish (US)
Pages (from-to)354-369
Number of pages16
JournalCommunications on Pure and Applied Mathematics
Volume53
Issue number3
StatePublished - Mar 2000
Externally publishedYes

Fingerprint

Underactuated System
Nonlinear systems
Nonlinear Systems
Inverted Pendulum
Linear Control
Control Design
Lyapunov Function
Unstable
Lyapunov functions
Pendulums
Demonstrate
Family

ASJC Scopus subject areas

  • Mathematics(all)
  • Applied Mathematics

Cite this

Control of nonlinear underactuated systems. / Auckly, David; Kapitanski, Lev; White, Warren.

In: Communications on Pure and Applied Mathematics, Vol. 53, No. 3, 03.2000, p. 354-369.

Research output: Contribution to journalArticle

Auckly, David ; Kapitanski, Lev ; White, Warren. / Control of nonlinear underactuated systems. In: Communications on Pure and Applied Mathematics. 2000 ; Vol. 53, No. 3. pp. 354-369.
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