Paper Info
Title
Control of Nonlinear Mechanical Systems
Abstract
Control design methods for some underactuated mechanical systems are presented. A first control algorithm is based on the energy of the system and its passivity properties. It has been applied on the reaction wheel pendulum and on a convey-crane system. Then, a smooth control Lyapunov function for the planar vertical take-off and landing (PVTOL) aircraft is proposed. Its construction relies on the nonlinear stabilization technique called forwarding. The PVTOL aircraft model represents a particular example which illustrates well “Lyapunov forwarding” technique.
Year
DOI
Venue
2001
10.1016/S0947-3580(01)71153-3
European Journal of Control
Keywords
DocType
Volume
Aerospace systems,Dissipative and energy-based design,Lyapunov design,Mechatronic systems,Stabilization of nonlinear systems
Journal
7
Issue
ISSN
Citations 
2
0947-3580
2
PageRank 
References 
Authors
0.63
7
2
Name
Order
Citations
PageRank
Isabelle Fantoni127927.65
Rogelio Lozano2914166.62