Title :
Control of underactuated mechanical systems with drift using higher-order averaging theory
Author :
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution :
Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper uses a recently developed generalized averaging theory [P.A. Vela and J.W. Burdick, 2003] to develop stabilizing control laws for a large class of nonlinear systems with drift. These control laws exponentially stabilize in the average.
Keywords :
higher order statistics; nonlinear control systems; stability; higher-order averaging theory; nonlinear systems; stabilizing control laws; underactuated mechanical systems; Control systems; Differential equations; Ear; Feedback; Mechanical systems; Motion control; Nonlinear control systems; Nonlinear systems; Postal services; Systems engineering and theory;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1273101
