Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
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Publication:2440657
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Cites work
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- Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
- Converse Lyapunov functions for exponentially stable periodic orbits
- Energy based control of the Pendubot
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- scientific article; zbMATH DE number 5184461 (Why is no real title available?)
- scientific article; zbMATH DE number 4059232 (Why is no real title available?)
- Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control
- Modification via averaging of partial-energy-shaping control for creating oscillations: cart-pendulum example
- Periodic motion planning for virtually constrained Euler--Lagrange systems
- Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
- The Riccati equation
Cited in
(28)- A coordinate-free theory of virtual holonomic constraints
- Stability improvement of a dynamic walking system via reversible switching surfaces
- Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems
- Control strategy based on Fourier transformation and intelligent optimization for planar Pendubot
- Inverse dynamics of underactuated planar manipulators without inertial coupling singularities
- Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
- Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
- Control of a bicycle using virtual holonomic constraints
- SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations
- Robust orbital stabilization of Pendubot: algorithm synthesis, experimental verification, and application to swing up and balancing control
- Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
- scientific article; zbMATH DE number 5184461 (Why is no real title available?)
- Closed loop control of a gravity-assisted underactuated snake robot with application to aircraft wing-box assembly
- Periodic motion planning and control for underactuated mechanical systems
- A review on self-oscillating relay feedback systems and its application to underactuated systems with degree of underactuation one
- Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics
- A parametric poles assignment algorithm for high-order linear discrete periodic systems
- Path following for the PVTOL aircraft
- Orbital synchronization of homogeneous mechanical systems with one degree of underactuation
- Virtual nonholonomic constraints: a geometric approach
- Almost periodic motion planning and control for double rotary pendulum with experimental validation
- Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
- Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
- Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
- An improved adaptive sliding mode controller for generating periodic motions in mechanical systems -- a model-free approach
- Orbital stabilization of periodic motions induced by singular virtual holonomic constraints
- Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
- Periodic motion planning for virtually constrained Euler--Lagrange systems
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