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Control of underactuated mechanical systems with drift using higher-order averaging theory

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2 Author(s)
Vela, P.A. ; Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA ; Burdick, J.W.

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.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:3 )

Date of Conference:

9-12 Dec. 2003