Nonlinear control of mechanical systems with an unactuated cyclic variable

DOI10.1109/TAC.2005.847057MaRDI QIDQ5274045zbMATH OpenOpenAlexFDO

Authors Jessy W. Grizzle, C. H. Moog, Christine Chevallereau

Publication date 12 July 2017

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

Full work available at URL https://doi.org/10.1109/tac.2005.847057

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited in

(21)

• Ball on a beam: Stabilization under saturated input control with large basin of attraction
• Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
• Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint
• Output-based asymptotic controller for a class of nonlinear systems via high-order sliding-modes
• Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
• Analysis of the energy-based swing-up control for the double pendulum on a cart
• A dynamic human motion: coordination analysis
• Advanced LMI based analysis and design for Acrobot walking
• Design of differentially flat planar space robots and their planning and control
• Generating self-excited oscillations for underactuated mechanical systems via two-relay controller
• Composite control of the \(n\)-link chained mechanical systems
• A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity
• Generating oscillations in inertia wheel pendulum via two-relay controller
• Adaptive backstepping control of wheeled inverted pendulums models
• Adaptive control of unactuated dynamical systems through interconnections: stability and performance guarantees
• Singularity-avoiding swing-up control for underactuated three-link gymnast robot using virtual coupling between control torques
• Two relay controller for real time trajectory generation and its application to inverted orbital stabilization of inertia wheel pendulum via quasi-continuous HOSM
• A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints
• Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design
• Adaptive event-triggered output-feedback stabilization for nonlinear systems with function control coefficients
• A controller for 2-DOF underactuated mechanical systems with discontinuous friction

This page was built for publication: Nonlinear control of mechanical systems with an unactuated cyclic variable

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5274045)