Nonsmooth stabilization of an underactuated unstable two degrees of freedom mechanical system

This paper studies a specific mechanical example that is representative of a class of underactuated, weakly coupled, unstable mechanical systems that are exceptionally difficult to stabilize. In particular, systems in this class are not stabilizable using static smooth feedback but are stabilizable...

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Published inProceedings of the 36th IEEE Conference on Decision and Control Vol. 4; pp. 3998 - 4003 vol.4
Main Authors Rui, C., Reyhanoglu, M., Kolmanovsky, I., Cho, S., McClamroch, N.H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1997
Subjects
Control systems
Couplings
Educational institutions
Equations
Feedback
Force control
Mechanical systems
Robotics and automation
Springs
Weight control
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Summary:This paper studies a specific mechanical example that is representative of a class of underactuated, weakly coupled, unstable mechanical systems that are exceptionally difficult to stabilize. In particular, systems in this class are not stabilizable using static smooth feedback but are stabilizable using nonsmooth feedback. Although similar purely theoretical developments have been previously presented, we emphasize the physical basis and physical implications of the theoretical conclusions in the context of a specific example. The development in this paper is limited to a specific physical example, but the approach is applicable to a wide class of underactuated, weakly coupled, unstable mechanical systems.
ISBN:0780341872
9780780341876
ISSN:0191-2216
DOI:10.1109/CDC.1997.652490