Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems

DOI10.1016/0005-1098(94)90049-3zbMath0815.93057OpenAlexW2093898644WikidataQ56424627 ScholiaQ56424627MaRDI QIDQ1344364

Hariharan Krishnan, N. Harris Mcclamroch

Publication date: 9 February 1995

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/2027.42/31178

zbMATH Keywords

trackingnormal formdifferential-algebraic equationsrobotics

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) System structure simplification (93B11) Transformations (93B17)

Related Items (14)

Stabilizing inputs for implicit functional differential equations of the neutral type with unknown time-varying delays ⋮ Containment control of directed networks with time-varying nonlinear multi-agents using minimum number of leaders ⋮ Design of a fault diagnosis scheme for a class of singular nonlinear systems ⋮ Bifurcations of a singular prey-predator economic model with time delay and stage structure ⋮ Asymptotic output tracking of nonlinear differential-algebraic control systems ⋮ On observing nonlinear descriptor systems ⋮ Semi-global robust output regulation for a class of singular nonlinear systems via nonlinear internal model ⋮ Normal forms and internal regularization of nonlinear differential‐algebraic control systems ⋮ General Nonlinear Differential Algebraic Equations and Tracking Problems: A Robotics Example ⋮ On state representations of nonlinear implicit systems ⋮ Perfect position/force tracking of robots with dynamical terminal sliding mode control ⋮ Finite-time stability analysis and control for a class of stochastic singular biological economic systems based on T-S fuzzy model ⋮ Bifurcation analysis and control of a class of hybrid biological economic models ⋮ Numerical solution of second-order robot arm control problem using Runge–Kutta–Butcher algorithm

Cites Work

• Unnamed Item
• Feedback stabilization of control systems described by a class of nonlinear differential-algebraic equations
• Hybrid position/force tracking for a class of constrained mechanical systems
• Motion and force control of multiple robotic manipulators
• On a geometrical interpretation of differential-algebraic equations
• Displacement Control of Flexible Structures Using Electrohydraulic Servo-Actuators
• Adaptive control of linearizable systems
• Differential-Algebraic Systems as Differential Equations on Manifolds
• Feedback stabilization and tracking of constrained robots
• Modeling and Control of Elastic Joint Robots
• Asymptotic stabilization of minimum phase nonlinear systems
• Computation of state realizations for control systems described by a class of linear differential-algebraic equations

This page was built for publication: Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems