Speed-gradient Algorithms for Underactuated Nonlinear Systems
نویسندگان
چکیده
A new method for control of underactuated nonlinear systems is proposed, based on introducing artificial invariants and using speed-gradient algorithms. General statement concerning achievement of the control goal is formulated and proven. Application of the proposed approach is illustrated by an example: stabilization of cart-pendulum oscillations around the upper equilibrium. Copyright c ©2005 IFAC.
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تاریخ انتشار 2005