Controller design for a class of underactuated nonlinear systems

R. Olfati-Saber, A. Megretski
Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171)  
In this paper, we design a controller for a class of underactuated nonlinear systems. First, we try to find an appropriate global change of coordinates to transform the dynamics of the system into a desired form which consists of a lower order nonlinear subsystem plus a chain of integrators. Then, we find a control Lyapunov function (CLF) and its associated control law for the lower order subsystem. Finally, using backstepping procedure we derive the control Lyapunov function and the controller
more » ... for the whole system. The obtained controller renders the origin semiglobally asymptotically stable. As an special case, we demonstrate this procedure for The Acrobot example which is a twolink planar robot with a single actuator at the elbow.
doi:10.1109/cdc.1998.761958 fatcat:uq3rateilvgvtpskm4wmo7sqze