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

• Published in: Proceedings 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
• Language: English
• Published: IEEE 1997
• Subjects: Control systems; Couplings; Educational institutions; Equations; Feedback; Force control; Mechanical systems; Robotics and automation; Springs; Weight control

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...