A simple and quick control strategy for a class of first-order nonholonomic manipulator

DOI10.1007/S11071-016-2827-9zbMATH Open1349.70028OpenAlexW2391390033MaRDI QIDQ345614FDOQ345614

Authors: Xuzhi Lai, Ya-Wu Wang, Jun-Qing Cao, Min Wu 

Publication date: 2 December 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-2827-9

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zbMATH Keywords

particle swarm optimization algorithmLyapunov functionnonholonomic constraintenumeration methodunderactuated manipulator

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Cites Work

• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
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• Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
• Energy-consistent numerical integration of mechanical systems with mixed holonomic and nonholonomic constraints
• Control of nonlinear mechanical systems
• Title not available (Why is that?)
• Dynamics and control of a class of underactuated mechanical systems
• Energy based control of the Pendubot
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• A position control of a planar three-link under-actuated mechanical system based on model reduction
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose

Cited In (6)

• Control strategy based on Fourier transformation and intelligent optimization for planar Pendubot
• The VFO state-constrained stabilisation of the nonholonomic manipulator with limited control input
• A new control method for planar four-link underactuated manipulator based on intelligence optimization
• Position and posture control for a class of second-order nonholonomic underactuated mechanical system
• Adaptive robust control for planar \(n\)-link underactuated manipulator based on radial basis function neural network and online iterative correction method
• A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system

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