1999/01/29 by Dave Auckly, Auckly, Dave, Lev Kapitanski +4
Engineering · Mathematics · #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Optimization and Control (math.OC) #math.OC
paper · pdf · doi:10.48550/arxiv.math/9901140
17 pages
arxiv created 1999/01/29 · openalex publication_date 1999/01/29 · arxiv updated 2009/11/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper we introduce a new method to design control laws for non-linear 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 function. The inverted pendulum cart is used as an example. In addition, we construct an abstract system which is open loop unstable and cannot be stabilized using any linear control law, and demonstrate that our method produces a stabilizing control law.