Published December 2003
| Published
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Control of underactuated mechanical systems with drift using higher-order averaging theory
- Creators
- Vela, Patricio A.
- Burdick, Joel W.
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.
Additional Information
© 2003 IEEE. This work was supported in part by the National Science Foundation by Engineering Research Center grant NSF9402726.Attached Files
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Additional details
- Eprint ID
- 96768
- Resolver ID
- CaltechAUTHORS:20190627-092503001
- EEC-9402726
- NSF
- Created
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2019-06-27Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field