Controlling underactuated mechanical systems: a review and open problems

MaRDI QIDQ3086737zbMATH OpenFDO

Authors Zhong-Ping Jiang

Publication date 30 March 2011

zbMATH Keywords

underactuated mechanical systemsnonholonomic mobile robotsstate and output feedbackstabilization and tracking problem

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cited in

(15)

• Tracking control of an underactuated rigid body with a coupling input force
• Motion control of underactuated mechanical systems
• Leader-follower formation stabilization and tracking control for heterogeneous planar underactuated vehicle networks
• Mathematical problems in the control of underactuated systems
• A review on the control of second order underactuated mechanical systems
• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
• Optimal control of underactuated mechanical systems: A geometric approach
• Switched finite time control of a class of underactuated systems.
• Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system
• Interconnection and damping assignment passivity-based control of an underactuated 2-DOF gyroscope
• scientific article; zbMATH DE number 2065641 (Why is no real title available?)
• Adaptive tracking control for underactuated mechanical systems with relative degree two
• A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints
• Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
• Control of non holonomic or under-actuated mechanical systems: the examples of the unicycle robot and the slider

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