In this paper we introduce a new method to design control laws for nonlinear, underactuated systems. Our method produces an infinite-dimensional family of control laws, whereas most control techniques only produce a finite-dimensional family. These control laws each come with a natural Lyapunov func
Stabilization of a nonlinear underactuated hovercraft
β Scribed by I. Fantoni; R. Lozano; F. Mazenc; K. Y. Pettersen
- Publisher
- John Wiley and Sons
- Year
- 2000
- Tongue
- English
- Weight
- 115 KB
- Volume
- 10
- Category
- Article
- ISSN
- 1049-8923
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