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

DOI10.1016/J.AUTOMATICA.2013.03.027MaRDI QIDQ2356677zbMATH OpenOpenAlexFDO

Authors 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

acrobotpendubotreduced-order controllerstable controllerstrong stabilizationunderactuated robots

Mathematics Subject Classification ID

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

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Cites work

• Analysis of the energy‐based swing‐up control of the Acrobot
• scientific article; zbMATH DE number 4070711 (Why is no real title available?)
• On the order of stable compensators
• On the strong stabilization and stable \(H^\infty\)-controller design problems for MIMO systems
• Single-loop feedback-stabilization of linear multivariable dynamical plants
• Strong Stabilization of a Class of MIMO Systems
• Strong stabilization of MIMO systems via unimodular interpolation in H

Cited in

(16)

• Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum
• Linear strong structural controllability and observability of an \(n\)-link underactuated revolute planar robot with active intermediate joint or joints
• Strong stabilization of high order plants
• Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator
• Time optimal control of triple integrator with input saturation and full state constraints
• Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy
• Adaptive antiswing control for cranes in the presence of rail length constraints and uncertainties
• Reduced Order Model and Decoupled Control Architecture for Two Manipulators Holding a Rigid Object
• scientific article; zbMATH DE number 1360078 (Why is no real title available?)
• Comprehensive Unified Control Strategy and Global Stability Analysis for Underactuated Two-link Manipulators
• 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
• Strongly stabilizing the Acrobot by optimizing maximal relative stability via observation point selection
• Minimal order strongly stabilizing controller with maximal relative stability for two-link underactuated planar robot with single sensor
• Bistable tangential interpolant and application to strong stabilization of MIMO systems
• Controlling folded configurations of 2-link underactuated gymnastic robot: strong stabilization and minimal-order controllers

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