scientific article; zbMATH DE number 475213
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Publication:4273451
zbMATH Open0788.70018MaRDI QIDQ4273451FDOQ4273451
Authors: Richard M. Murray 
Publication date: 26 May 1994
Title of this publication is not available (Why is that?)
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stabilizationtrackingfeedback transformationnilpotent normal formtrajectory generationmulti-fingered robot hands
Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)
Cited In (32)
- Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots
- State equivalence to the second-order nonholonomic chained form
- Trajectory design for mechanical control systems: from geometry to algorithms
- Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form.
- A recursive technique for tracking control of nonholonomic systems in chained form
- Canonical representation of a nonstationary path following problem
- Synthesis of a stabilizing control for a wheeled robot following a curvilinear path
- State and output feedback stabilization of multiple chained systems with discontinuous control
- Motion on Lie groups and its applications in control theory.
- Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems
- Feedback control of nonholonomic wheeled vehicles. A survey.
- Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach
- Control of high-order nonholonomic systems in power chained form using discontinuous feedback
- Stabilizing feedback laws for internally actuated multibody systems in space
- Discontinuous control of nonholonomic systems
- Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems
- Learning optimal trajectories for non-holonomic systems
- Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form
- Exponentially convergent control laws for nonholonomic systems in power form
- Robust stabilization via iterative state steering with an application to chained-form systems
- Title not available (Why is that?)
- A linearizing feedback for stabilizing a car-like robot following a curvilinear path
- Title not available (Why is that?)
- Canonical representation of the path following problem for wheeled robots
- Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
- Control based on linear algebra for trajectory tracking and positioning of second-order chained form system
- Control of a mechanical wheeled system
- A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach
- Control design for chained-form systems with bounded inputs
- Trajectory tracking control of chained systems: A new approach
- Switched mode feedback control laws for nonholonomic systems in extended power form
- Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
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