Stabilization of a class of nonlinear underactuated mechanical systems with 2-DOF via immersion and invariance

摘要

In this work, we propose a controller based on the well-known Immersion and Invariance technique to solve the stabilization problem of a class of underactuated mechanical systems with 2-Degree of Freedom (DOF). We define simple conditions such that the ordinary partial equations arising in Immersion and Invariance are solved. The class of systems addressed in this work includes underactuated mechanical systems with gyroscopic forces . Our approach is validated through simulation and experimental results. (c) 2021 European Control Association. Published by Elsevier Ltd. All rights reserved.