A Constructive Procedure for Orbital Stabilization of a Class of Underactuated Mechanical Systems

In this note, we present a constructive procedure to solve the orbital stabilization problem of a class of nonlinear underactuated mechanical systems with n degrees of freedom and underactuation degree one using the Immersion and Invariance technique. We define sufficient conditions to solve expli...

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Veröffentlicht in:	IEEE transactions on control systems technology 2022-11, Vol.30 (6), p.2698-2706
Hauptverfasser:	Romero, Jose Guadalupe, Gandarilla, Isaac, Santibanez, Victor, Yi, Bowen
Format:	Artikel
Sprache:	eng
Schlagworte:	Immersion and invariance Invariance Mechanical systems Nonlinear systems Numerical simulation Orbital stability orbital stabilization Orbits Partial differential equations Submerging Vehicle dynamics
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