DocumentCode
2768824
Title
Global stabilization of uncertain underactuated mechanical systems
Author
Barany, Ernest ; Colbaugh, Richard
Author_Institution
Dept. of Math. Sci., New Mexico State Univ., Las Cruces, NM, USA
Volume
4
fYear
1998
fDate
16-18 Dec 1998
Firstpage
4553
Abstract
Continues the study of the problem of globally stabilizing a mechanical system with unknown potential and inertial structure and without the need for velocity measurements or large forces. The paper describes an extension of work by the authors (1995, 1998) pertaining to fully actuated mechanical systems to an important class of underactuated systems
Keywords
asymptotic stability; feedback; robots; uncertain systems; cascade systems; global stabilization; uncertain underactuated mechanical systems; Adaptive control; Control systems; Damping; Equations; Feedback; Force control; Mechanical systems; Programmable control; Three-term control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.762044
Filename
762044
Link To Document