Output Feedback Stabilization Control for Underactuated Mechanical Systems
This paper is focused on the output feedback stabilization control problems for a special class of underactuated mechanical systems, which appear in robotics and aerospace applications. For the synthesis of controller, firstly, the considered underactuated mechanical system is explicitly transformed into two cascade connected subsystems, and then an auxiliary filter based virtual stabilization controller is developed to locally asymptotically stabilize the first subsystem. Further, the designed virtual controller is again involved into the second subsystem using backstepping procedure to construct the actual control law. Lyapunov analysis shows the local asymptotic stability of the closed-loop system. Simulation results are presented by using a benchmark nonlinear underactuated mechanical system to prove the feasibility and the effectiveness of the proposed controller.
underactuated mechanical systems output feedback backstepping finite-time observer
XU Liang HU Qinglei Guangfu Ma
Dept. Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4267-4272
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）