Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

DOI10.1007/s11044-012-9303-1zbMath1271.70023MaRDI QIDQ364067

Zeljko Situm, Tihomir Zilic, Mario Essert, Josip Kasac

Publication date: 5 September 2013

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-012-9303-1

zbMATH Keywords

stabilization; sliding mode control; trajectory tracking; actuators dynamics; second-order nonholonomic systems; underactuated nonlinear mechanical systems

Mathematics Subject Classification ID

70E60: Robot dynamics and control of rigid bodies

70E50: Stability problems in rigid body dynamics

Related Items

Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance, A simple and quick control strategy for a class of first-order nonholonomic manipulator, Calculating road input data for vehicle simulation, Computed torque control of redundant manipulators using general-purpose software in real-time, Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control, Universal Practical Tracking Control of a Planar Underactuated Vehicle

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Discontinuous control of nonholonomic systems
• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
• Control of underactuated mechanical systems with servo-constraints
• Switched finite time control of a class of underactuated systems.
• Stabilization of second-order nonholonomic systems in canonical chained form
• Normal forms for underactuated mechanical systems with symmetry
• Global time-varying stabilization of underactuated surface vessel