Control of nonlinear underactuated syste
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David Auckly; Lev Kapitanski; Warren White
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Article
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2000
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John Wiley and Sons
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English
โ 311 KB
๐ 1 views
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