Stabilization of Nonlinear Mechanical Systems with Partial Measurement of the Generalized Coordinates

Systems with deficiency of control forces and measurement only parts of the generalized coordinates are considered. The method of stabilization of equilibrium position, based on introduction of auxiliary coordinates and application of energy approach with use of a total energy of expanded system as Lyapunov's function is offered. For essentially nonlinear systems with generally homogeneous potential energy three cases in which the equilibrium position can be stabilized to global asymptotic stability are revealed.