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

DOI10.1007/S11044-012-9303-1MaRDI QIDQ364067zbMATH OpenOpenAlexFDO

Authors Tihomir Zilic, J. Kasac, Zeljko Situm, Mario Essert

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

sliding mode controlstabilizationtrajectory trackingactuators dynamicssecond-order nonholonomic systemsunderactuated nonlinear mechanical systems

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

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Cites work

• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• scientific article; zbMATH DE number 2155156 (Why is no real title available?)
• Control of underactuated mechanical systems with servo-constraints
• Discontinuous control of nonholonomic systems
• Global time-varying stabilization of underactuated surface vessel
• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
• Normal forms for underactuated mechanical systems with symmetry
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Sliding mode control of a ``soft 2-DOF planar pneumatic manipulator
• Stabilization of second-order nonholonomic systems in canonical chained form
• Switched finite time control of a class of underactuated systems.

Cited in

(7)

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

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