A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints

DOI10.1007/S10883-014-9266-ZMaRDI QIDQ5963672zbMATH OpenOpenAlexFDO

Authors Robin Chhabra, Mohammad R. Emami

Publication date 23 February 2016

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s10883-014-9266-z

zbMATH Keywords

dynamical reductioninput-output linearizationnonholonomic constraintsnonlinear controlopen-chain multi-body system

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Control of mechanical systems (70Q05) Feedback control (93B52)

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Cites work

• Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top
• Geometric Fundamentals of Robotics
• Local Equilibrium Controllability of Multibody Systems Controlled via Shape Change
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Nonlinear control of mechanical systems with an unactuated cyclic variable
• Nonlinear control of planar multibody systems in shape space
• Normal forms for underactuated mechanical systems with symmetry
• On mechanical control systems with nonholonomic constraints and symmetries
• On the recursive adaptive control for free-floating space manipulators
• Optimal Control of Underactuated Nonholonomic Mechanical Systems
• Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration
• Reduction of some classical non-holonomic systems with symmetry
• Reduction of symplectic manifolds with symmetry
• Sliding mode control of underactuated multibody systems and its application to shape change control
• The Lie group of rigid body displacements, a fundamental tool for mechanism design.

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