Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form

David A. Lizárraga, Nnaedozie P. I. Aneke, Henk Nijmeijer
2004 SIAM Journal of Control and Optimization  
This paper addresses point stabilization for the extended chained form (ECF), a control system that may be used to model a number of mechanical underactuated systems. A control law is proposed, based on well-known hybrid open-loop/feedback techniques, which exponentially stabilizes the origin of a dynamic extension of the ECF and ensures a degree of robustness to additive disturbance terms that may represent, for instance, model uncertainties. Numerical simulations are included to illustrate the performance of the presented stabilizers.
doi:10.1137/s0363012902405571 fatcat:c3ixkbtr2naulgd4cfhja5ibym