A Constructive Procedure for Orbital Stabilization of a Class of Underactuated Mechanical Systems

Romero, JG; Gandarilla, I; Santibanez, V; Yi, B

A Constructive Procedure for Orbital Stabilization of a Class of Underactuated Mechanical Systems

Romero, JG Gandarilla, I Santibanez, V Yi, B

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Publisher:: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Type:: Journal Article
Citation:: IEEE Transactions on Control Systems Technology, 2022, 30, (6), pp. 2698-2706
Issue Date:: 2022-11-01

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Field	Value	Language
dc.contributor.author	Romero, JG
dc.contributor.author	Gandarilla, I
dc.contributor.author	Santibanez, V
dc.contributor.author	Yi, B https://orcid.org/0000-0002-0517-9519
dc.date.accessioned	2023-03-08T02:38:27Z
dc.date.available	2023-03-08T02:38:27Z
dc.date.issued	2022-11-01
dc.identifier.citation	IEEE Transactions on Control Systems Technology, 2022, 30, (6), pp. 2698-2706
dc.identifier.issn	1063-6536
dc.identifier.issn	1558-0865
dc.identifier.uri	http://hdl.handle.net/10453/166704
dc.description.abstract	In this note, we present a constructive procedure to solve the orbital stabilization problem of a class of nonlinear underactuated mechanical systems with n degrees of freedom and underactuation degree one using the Immersion and Invariance technique. We define sufficient conditions to solve explicitly the partial differential equations arising in the Immersion and Invariance methodology, so that mechanical systems with gyroscopic terms can be considered. At the end, we use two practical systems as examples to illustrate the design procedure, as well as validating performance via simulations and experiments.
dc.language	English
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.ispartof	IEEE Transactions on Control Systems Technology
dc.relation.isbasedon	10.1109/TCST.2022.3147336
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	A Constructive Procedure for Orbital Stabilization of a Class of Underactuated Mechanical Systems
dc.type	Journal Article
utslib.citation.volume	30
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2023-03-08T02:38:26Z
pubs.issue	6
pubs.publication-status	Published
pubs.volume	30
utslib.citation.issue	6

Abstract:

In this note, we present a constructive procedure to solve the orbital stabilization problem of a class of nonlinear underactuated mechanical systems with n degrees of freedom and underactuation degree one using the Immersion and Invariance technique. We define sufficient conditions to solve explicitly the partial differential equations arising in the Immersion and Invariance methodology, so that mechanical systems with gyroscopic terms can be considered. At the end, we use two practical systems as examples to illustrate the design procedure, as well as validating performance via simulations and experiments.

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http://hdl.handle.net/10453/166704