Active space control of underactuated robots: from adaptation to robustness to optimality

DOI10.1002/ACS.3470MaRDI QIDQ6496701zbMATH OpenFDO

Authors Siavash Farzan, Aaron D. Ames, Patricio A. Vela, Seth Hutchinson

Publication date 6 May 2024

Published in International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/ACS.3470

zbMATH Keywords

adaptive concurrent learningquadratic programrobust control Lyapunov functionunderactuated system

Mathematics Subject Classification ID

Systems theory; control (93-XX)

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Cites work

• Concurrent learning adaptive control of linear systems with exponentially convergent bounds
• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Control of underactuated spacecraft with bounded inputs
• Energy based control of the Pendubot
• Exponential Control Lyapunov-Barrier Function Using a Filtering-Based Concurrent Learning Adaptive Approach
• Exponential parameter and tracking error convergence guarantees for adaptive controllers without persistency of excitation
• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• Normal forms for underactuated mechanical systems with symmetry
• On the VTOL Exact Tracking With Bounded Internal Dynamics via a PoincarÉ Map Approach
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
• Robust nonlinear control design. State-space and Lyapunov techniques
• Robust Safety-Critical Control for Dynamic Robotics
• Sliding mode control of a class of underactuated systems
• Stochastic stability of the discrete-time extended Kalman filter
• Swinging up a pendulum by energy control

Cited in

(1)

• Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems

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