A unified solution to swing-up control for \(n\)-link planar robot with single passive joint based on virtual composite links and passivity

DOI10.1007/s11071-011-0033-3zbMath1242.93086MaRDI QIDQ437286

Xin Xin, Yannian Liu, Jin-Hua 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

zbMATH Keywords

swing-up control; energy-based control; multiple-DOF (degree-of-freedom); underactuated robots; virtual composite link (VCL)

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

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