Under-Actuated Back-Stepping: An Introduction

摘要

The stabilization problem for a class of under-actuated systems is solved. This is achieved via a novel backstepping based method that we call under-actuated backstepping. The method is developed for linear under-actuated systems first and then extended to nonlinear systems via an example. Numerical simulations are given to demonstrate the effectiveness of the proposed under-actuated back-stepping method.