IEEE - Institute of Electrical and Electronics Engineers, Inc. - Energy-Based Control for a Class of Under-Actuated Mechanical Systems

International Congress on Image and Signal Processing (CISP 2008)

Author(s): Yunyun Dong ; Zhonghua Wang ; Zhiquan Feng ; Dongxue Wang ; Hui Fang
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2008
Conference Location: Sanya, Hainan, China
Conference Date: 27 May 2008
Volume: 3
Page(s): 139 - 143
ISBN (Paper): 978-0-7695-3119-9
DOI: 10.1109/CISP.2008.304
Regular:

In this paper we discuss an energy-based control method for a class of under-actuated mechanical systems. The control law is proposed and the convergence analysis is carried out based on Lyapunov... View More

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