A controller for 2-DOF underactuated mechanical systems with discontinuous friction

DOI10.1007/S11071-007-9307-1zbMath1170.70393OpenAlexW1986305361MaRDI QIDQ841754

Roque Martinez, Joaquín Alvarez-Gallegos

Publication date: 18 September 2009

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-007-9307-1

zbMATH Keywords

uncertaintymechanical systemsasymptotic stabilityfrictionunderactuation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Problems involving a system of particles with friction (70F40)

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• Dynamics and control of a class of underactuated mechanical systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Nonlinear control of mechanical systems with an unactuated cyclic variable
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach

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