Passive velocity field control (PVFC). Part I. Geometry and robustness

DOI10.1109/9.948463zbMath1017.93035OpenAlexW2135667864MaRDI QIDQ4540479

Perry Y. Li, Roberto Horowitz

Publication date: 21 July 2002

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.948463

zbMATH Keywords

stabilizationmechanical systemsLyapunov stabilitypassivitysafetyvelocity fieldpassive velocity field controlaffine connection with torsionPVFC

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

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A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking ⋮ Predefined-time robust contour tracking of robotic manipulators ⋮ Velocity field control of a class of electrically-driven manipulators ⋮ Velocity field control of robot manipulators by using only position measurements ⋮ Control of a class of underactuated mechanical systems ⋮ Robust contour tracking of nonholonomic mobile robots via adaptive velocity field motion planning scheme

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