IEEE - Institute of Electrical and Electronics Engineers, Inc. - Hybrid control for a class of underactuated mechanical systems

Author(s): R. Fierro ; F.L. Lewis ; A. Lowe
Sponsor(s): IEEE Systems, Man, and Cybernetics Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 1999
Volume: 29
Page Count: 6
Page(s): 649 - 654
ISSN (Paper): 1083-4427
ISSN (Online): 1558-2426
DOI: 10.1109/3468.798069
Regular:

This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a... View More

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