A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity
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Publication:437286
DOI10.1007/S11071-011-0033-3zbMATH Open1242.93086OpenAlexW2060603897MaRDI QIDQ437286FDOQ437286
Xin Xin, Yannian Liu, Jinhua She
Publication date: 17 July 2012
Published in: Nonlinear Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11071-011-0033-3
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swing-up controlenergy-based controlmultiple-DOF (degree-of-freedom)underactuated robotsvirtual composite link (VCL)
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- Dynamic modelling, simulation and control of a manipulator with flexible links and joints
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- Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
- Energy based control of the Pendubot
- A controller for 2-DOF underactuated mechanical systems with discontinuous friction
- Global tracking control of a vtol aircraft without velocity measurements
- A prediction‐based nonlinear controller for stabilization of a non‐minimum phase PVTOL aircraft
- Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
- On the sliding mode control of a ball on a beam system
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- Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle
Cited In (7)
- Partially saturated nonlinear control for gantry cranes with hardware experiments
- Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy
- An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation
- Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint
- Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator
- Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
- Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms
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