Backstepping Approach for Underactuated Systems

• Main Authors: Nur Fadzillah, Harun, Zainah, Md. Zain
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2014
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/9799/1/Backstepping%20Approach%20for%20Underactuated%20Systems.pdf; http://umpir.ump.edu.my/id/eprint/9799/7/Backstepping%20Approach%20for%20Underactuated%20Systems-abstract.pdf; http://umpir.ump.edu.my/id/eprint/9799/

Control of underactuated systems usually required nonlinear technique because it cannot be stabilize with usual smooth, time-invariant and state feedback controller. Thus, backstepping approach is considered for stabilize underactuated systems, which the system is stabilized according to Lyapunov st...