scientific article; zbMATH DE number 475213

MaRDI QIDQ4273451zbMATH OpenFDO

Authors Richard M. Murray

Publication date 26 May 1994

zbMATH Keywords

stabilizationtrackingfeedback transformationnilpotent normal formtrajectory generationmulti-fingered robot hands

Mathematics Subject Classification ID

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)

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(32)

• State and output feedback stabilization of multiple chained systems with discontinuous control
• State equivalence to the second-order nonholonomic chained form
• Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
• Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems
• A recursive technique for tracking control of nonholonomic systems in chained form
• Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach
• Learning optimal trajectories for non-holonomic systems
• Discontinuous control of nonholonomic systems
• Stabilizing feedback laws for internally actuated multibody systems in space
• Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form
• Trajectory tracking control of chained systems: A new approach
• Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots
• Switched mode feedback control laws for nonholonomic systems in extended power form
• Trajectory design for mechanical control systems: from geometry to algorithms
• Exponentially convergent control laws for nonholonomic systems in power form
• scientific article; zbMATH DE number 1827901 (Why is no real title available?)
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• Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems
• Synthesis of a stabilizing control for a wheeled robot following a curvilinear path
• A linearizing feedback for stabilizing a car-like robot following a curvilinear path
• Robust stabilization via iterative state steering with an application to chained-form systems
• Control based on linear algebra for trajectory tracking and positioning of second-order chained form system
• A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach
• Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
• Canonical representation of the path following problem for wheeled robots
• Control design for chained-form systems with bounded inputs
• Control of high-order nonholonomic systems in power chained form using discontinuous feedback
• Feedback control of nonholonomic wheeled vehicles. A survey.
• Control of a mechanical wheeled system
• Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form.
• Canonical representation of a nonstationary path following problem
• Motion on Lie groups and its applications in control theory.

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