Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
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Cites work
- A geometric approach to solving problems of control constraints: Theory and a DAE framework
- Diagnosis of singular points of properly stated DAEs using automatic differentiation
- Flatness and defect of non-linear systems: introductory theory and examples
- scientific article; zbMATH DE number 53595 (Why is no real title available?)
- scientific article; zbMATH DE number 1059250 (Why is no real title available?)
- Index of differential-algebraic equations governing the dynamics of constrained mechanical systems
- Index reduction by minimal extension for the inverse dynamics simulation of cranes
- Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
- Inverse dynamics of servo-constraints based on the generalized inverse
- Nonlinear inversion-based output tracking
- Nonlinear systems. Analysis, stability, and control
- Numerical integration of differential-algebraic equations with mixed holonomic and control constraints
- Numerical Solution of Nonlinear Differential Equations with Algebraic Constraints II: Practical Implications
- Real-time trajectory control of an overhead crane using servo-constraints
- Simulation of multibody systems with servo constraints through optimal control
- The index of general nonlinear DAEs
- The Zero Dynamics Form for Nonlinear Differential-Algebraic Systems
- Tracking with prescribed transient behaviour
- Two approaches for feedforward control and optimal design of underactuated multibody systems
Cited in
(10)- Simulation of multibody systems with servo constraints through optimal control
- Internal dynamics of multibody systems
- Combined open-loop and funnel control for underactuated multibody systems
- Diversities in the inverse dynamics problem for underactuated mechanical systems subject to servo-constraints
- A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints
- Trajectory-tracking control from a multibody system dynamics perspective
- A geometric approach to solving problems of control constraints: Theory and a DAE framework
- Analysis of open-loop control design and parallel computation for underactuated manipulators
- Projected explicit and implicit Taylor series methods for DAEs
- Control of underactuated mechanical systems with servo-constraints
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