Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping

The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems. The properties of the resulting closed-loop systems are studied in detail and case studies are given to show the effectiveness of the proposed method.2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. J. Jiang and A. Astolfi, "Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping," IEEE Transactions on Automatic Control, vol. 66, no. 11, pp. 5429-5435, Nov. 2021, doi: 10.1109/TAC.2020.3044531