Nonregular backstepping design of underactuated mechanical systems

Abstract

This paper presents a design framework for the stabilization of a class of underactuated mechanical systems. By utilizing nonregular static state feedback, these systems are transformed into a class of nonlinear systems with chain structures. Then, the controller design is presented by applying the backstepping design technique. The design procedure is applied to an underactuated robotic system and simulation tests are carried out for illustrating the effectiveness of the proposed approach.