Adaptive tracking control for underactuated mechanical systems with relative degree two

DOI10.1016/J.AUTOMATICA.2021.109633MaRDI QIDQ2665136zbMATH OpenOpenAlexFDO

Authors 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

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)

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Cites work

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

Cited in

(3)

• Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links
• Asymptotic adaptive tracking control and application to mechatronic systems
• Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics

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