Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system

DOI10.1016/J.JAPPMATHMECH.2016.04.013MaRDI QIDQ2277944zbMATH OpenOpenAlexFDO

Authors L. V. Paramonov, S. S. Pchelkin, A. S. Shiryaev, Sergei V. Gusev, Anders Robertsson, Leonid B. Freidovich

Publication date 7 December 2019

Published in Journal of Applied Mathematics and Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jappmathmech.2016.04.013

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• Control design for a biped: reference trajectory based on driven angles as functions of the undriven angle
• Decomposition and suboptimal control in dynamical systems
• Dynamic Scaling of Manipulator Trajectories
• Generalization of the Andronov--Vitt theorem
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• scientific article; zbMATH DE number 3249985 (Why is no real title available?)
• Linear stabilization of nonlinear systems program motion
• Minimum-time control of robotic manipulators with geometric path constraints
• Nonlinear autonomous oscillations. Analytical theory
• Periodic motion planning for virtually constrained Euler--Lagrange systems
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom

Cited in

(3)

• Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems
• Decomposition synthesis of the control system of electromechanical objects in conditions of incomplete information
• Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection

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