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

DOI10.1007/S11071-016-2827-9MaRDI QIDQ345614zbMATH OpenOpenAlexFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 1360076 (Why is no real title available?)
• A position control of a planar three-link under-actuated mechanical system based on model reduction
• Control of nonlinear mechanical systems
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Designing an underactuated mechanism for a 1 active DOF finger operation
• Dynamics and control of a class of underactuated mechanical systems
• Energy based control of the Pendubot
• Energy-consistent numerical integration of mechanical systems with mixed holonomic and nonholonomic constraints
• Modelling and control of robot manipulators.
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
• Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint

Cited in

(6)

• A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system
• 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

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