Robust decoupling through algebraic output feedback in manipulation systems
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Publication:3069504
zbMATH Open1205.93032MaRDI QIDQ3069504FDOQ3069504
Authors: Paolo Mercorelli 
Publication date: 26 January 2011
Full work available at URL: https://eudml.org/doc/196468
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- scientific article; zbMATH DE number 1910319
- Feedback linearization of differential-algebraic systems and force and position control of manipulators
- On manipulator control by exact linearization
Control of mechanical systems (70Q05) Robust stability (93D09) Geometric invariant theory (14L24) Geometric methods (93B27) Geometric applications of topological (K)-theory (19L64)
Cites Work
- Nonlinear control systems: An introduction
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- Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms
- Generalized Controllability, $( A,B )$-Invariant Subspaces and Parameter Invariant Control
- A subspace to describe grasping internal forces in robotic manipulation systems
- Consistent Task Specification for Manipulation Systems With General Kinematics
- The algebraic output feedback in the light of dual-lattice structures.
- On some geometric control properties of active suspensions systems.
- A geometric procedure for robust decoupling control of contact forces in robotic manipulation.
Cited In (3)
- A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
- Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation
- A geometric procedure for robust decoupling control of contact forces in robotic manipulation.
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