Control of manipulators in a constrained workspace by means of linked invariant sets

DOI10.1002/rnc.939zbMath1056.93046OpenAlexW2113677790MaRDI QIDQ4651601

Franco Blanchini, Felice Andrea Pellegrino, Luca Visentini

Publication date: 22 February 2005

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.939

zbMATH Keywords

trackingconstrained controlobstacle avoidancecontrolled-invariant sets

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Related Items (4)

Hamiltonian path planning in constrained workspace ⋮ A convex programming approach to the inverse kinematics problem for manipulators under constraints ⋮ On maximal robust positively invariant sets in constrained nonlinear systems ⋮ Modal and transition dwell time computation in switching systems: a set-theoretic approach

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