A Separation Principle for Underactuated Lossless Lagrangian Systems

DOI10.1109/TAC.2016.2633782MaRDI QIDQ4566868zbMATH OpenOpenAlexFDO

Authors Sofía Avila-Becerril, Antonio Loria, Elena Panteley

Publication date 27 June 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2016.2633782

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Cited in

(3)

• A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models
• On global trajectory tracking control of robot manipulators in cylindrical phase space
• Robust adaptive output feedback control for a class of underactuated aerial vehicles with input and output constraints

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