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-ZzbMATH Open1393.70024OpenAlexW2015326457MaRDI QIDQ5963672FDOQ5963672
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
nonlinear controlnonholonomic constraintsdynamical reductioninput-output linearizationopen-chain multi-body system
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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