Reduced-order stable controllers for two-link underactuated planar robots

DOI10.1016/J.AUTOMATICA.2013.03.027zbMath1364.93526OpenAlexW1996336041MaRDI QIDQ2356677

Xin Xin, Yannian Liu

Publication date: 6 June 2017

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2013.03.027

zbMATH Keywords

strong stabilizationunderactuated robotspendubotreduced-order controlleracrobotstable controller

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09) Artificial intelligence for robotics (68T40)

Related Items (7)

Strong stabilization of high order plants ⋮ Adaptive antiswing control for cranes in the presence of rail length constraints and uncertainties ⋮ Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator ⋮ Parameterization of minimal order strongly stabilizing controllers for two-link underactuated planar robot with single sensor ⋮ Delay-based stabilisation and strong stabilisation of LTI systems by nonsmooth constrained optimisation ⋮ Time optimal control of triple integrator with input saturation and full state constraints ⋮ Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum

Cites Work

• Unnamed Item
• On the order of stable compensators
• Single-loop feedback-stabilization of linear multivariable dynamical plants
• Strong stabilization of MIMO systems via unimodular interpolation in H
• Strong Stabilization of a Class of MIMO Systems
• Analysis of the energy‐based swing‐up control of the Acrobot
• On the strong stabilization and stable \(H^\infty\)-controller design problems for MIMO systems

This page was built for publication: Reduced-order stable controllers for two-link underactuated planar robots