Adaptive tracking control for underactuated mechanical systems with relative degree two

DOI10.1016/J.AUTOMATICA.2021.109633zbMATH Open1478.93314OpenAlexW3156911523MaRDI QIDQ2665136FDOQ2665136

Manuel Gnucci, Riccardo Marino

Publication date: 18 November 2021

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2021.109633

Recommendations

• Controlling underactuated mechanical systems: a review and open problems
• Control of a class of underactuated mechanical systems
• Design and analysis of active disturbance rejection control system for under actuation walking robot
• Adaptive variable structure set-point control of underactuated robots
• Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics

zbMATH Keywords

adaptive controlunderactuated mechanical systemsvirtual holonomic constraints

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Nonlinear control systems: An introduction
• Output regulation of nonlinear systems
• Adaptive manipulator control: A case study
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Hybrid zero dynamics of planar biped walkers
• Adaptive motion control of rigid robots: A tutorial
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
• Adaptive nonlinear regulation: estimation from the Lyapunov equation
• Neural network-based output feedback control for reference tracking of underactuated surface vessels
• Towards structure-independent stabilization for uncertain underactuated Euler-Lagrange systems
• Virtual Holonomic Constraints for Euler–Lagrange Systems
• Continuous Sliding Mode Control Strategy for a Class of Nonlinear Underactuated Systems
• Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner
• Enhanced-coupling adaptive control for double-pendulum overhead cranes with payload hoisting and lowering

Cited In (1)

• Asymptotic adaptive tracking control and application to mechatronic systems

This page was built for publication: Adaptive tracking control for underactuated mechanical systems with relative degree two

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2665136)