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Control of underactuated mechanical systems with drift using higher-order averaging theory

Vela, Patricio A. and Burdick, Joel W. (2003) Control of underactuated mechanical systems with drift using higher-order averaging theory. In: 42nd IEEE International Conference on Decision and Control. Vol.3. IEEE , Piscataway, NJ, pp. 3111-3117. ISBN 0-7803-7924-1. https://resolver.caltech.edu/CaltechAUTHORS:20190627-092503001

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Abstract

This paper uses a recently developed generalized averaging theory [P.A. Vela and J.W. Burdick, 2003] to develop stabilizing control laws for a large class of nonlinear systems with drift. These control laws exponentially stabilize in the average.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2003.1273101DOIArticle
Additional Information:© 2003 IEEE. This work was supported in part by the National Science Foundation by Engineering Research Center grant NSF9402726.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
Record Number:CaltechAUTHORS:20190627-092503001
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190627-092503001
Official Citation:P. A. Vela and J. W. Burdick, "Control of underactuated mechanical systems with drift using higher-order averaging theory," 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), Maui, HI, 2003, pp. 3111-3117 Vol.3. doi: 10.1109/CDC.2003.1273101
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96768
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 Jun 2019 18:42
Last Modified:03 Oct 2019 21:25

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