Speed-gradient algorithms for underactuated nonlinear systems

Authors:	Aracil Javier, Universidad de Sevilla, Spain Fradkov Alexander, Russian Academy of Sciences, Russian Federation Gordillo Francisco, Universidad de Sevilla, Spain
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Control in Physics and Mechanics
Keywords:	Underactuated systems, Speed gradient, artificial invariants

Abstract

A new method for control of underactuated nonlinear systems is proposed, based on introducing artificial invariants and using speed-gradient algorithms. General statement concerning achievement of the control goal is formulated and proven. Application of the proposed approach is illustrated by an example: stabilization of cart-pendulum oscillations around the upper equilibrium.