CaltechAUTHORS
Published December 2003 | Version Published
Book Section - Chapter Open

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

Creators

  • 1. ROR icon California Institute of Technology

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.

Additional Information

© 2003 IEEE. This work was supported in part by the National Science Foundation by Engineering Research Center grant NSF9402726.

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Identifiers

Eprint ID
96768
Resolver ID
CaltechAUTHORS:20190627-092503001

Funding

NSF
EEC-9402726

Dates

Created
2019-06-27
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Updated
2021-11-16
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