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- W2380134367 abstract "The existing state-space backstepping method suffers from design problems.For example,the increasing of the terms of the required derivatives of nonlinear functions during the recursive design,and less robustness caused by the single loop implementation of the integrator backstepping design.A frequency-domain backstepping technique is proposed in the paper with applications to a class of underactuated systems.The new method is not like the standard backstepping design by adding one integrator at each design step.Instead,an output feedback loop was designed at each step.Thus the resulting system was more compact and can be implemented more easily.The H∞ design was used for each loop.A control saturation design is added to counteract the nonlinear peaking phenomenon caused by the linearized design.An underactuated system with no dynamic relations between the generalized coordinates was used as an application example.Because for such underactuated system,the relative degree of the system is not well defined,and the unmodeled nonlinearity cannot be described by a bounded-norm operator,and even it acts as a positive feedback." @default.
- W2380134367 created "2016-06-24" @default.
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- W2380134367 date "2012-01-01" @default.
- W2380134367 modified "2023-09-24" @default.
- W2380134367 title "Frequency-domain backstepping design of a class of underactuated systems" @default.
- W2380134367 hasPublicationYear "2012" @default.
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