Direct Lyapunov approach for tracking control of underactuated mechanical systems

A direct Lyapunov method is applied to tracking problems for underactuated mechanical systems. The method involves reformulating the problem in terms of a sliding mode vector and then designing a control law that stabilizes the sliding mode vector to a lower bound. The design of the tracking control...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	White, W.N., Patenaude, J., Foss, M., Garcia, D.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Cranes Damping Filters Manipulator dynamics Mechanical systems Rockets Sliding mode control Underwater tracking Vehicle dynamics
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