Pseudo‐energy shaping for the stabilization of a class of second‐order systems

DOI10.1002/rnc.1803zbMath1255.93113OpenAlexW1531569163MaRDI QIDQ4902194

Dong Eui Chang

Publication date: 25 January 2013

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1803

zbMATH Keywords

stabilizationmechanical systemssecond-order systemLyapunov direct methodenergy shapingenergy-like Lyapunov functioncontrolled Lagrangian methoddegree of under-actuationpseudo-energy shaping methodthree-link robot arm systemtwo-dimensional overhead crane system

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control/observation systems governed by ordinary differential equations (93C15)

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