Almost periodic motion planning and control for double rotary pendulum with experimental validation

DOI10.1002/ASJC.2154MaRDI QIDQ6570442zbMATH OpenFDO

Authors Zeguo Wang, Leonid B. Freidovich, Hong-Hua Zhang

Publication date 10 July 2024

Published in Asian Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/ASJC.2154

zbMATH Keywords

double rotary pendulumperiodic motion planningunderactuated mechanical systemsvirtual holonomic constraints

Mathematics Subject Classification ID

Systems theory; control (93-XX)

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Cites work

• Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems
• scientific article; zbMATH DE number 1001723 (Why is no real title available?)
• Periodic motion planning and control for underactuated mechanical systems
• Periodic motion planning for virtually constrained Euler--Lagrange systems
• Planning Algorithms
• SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations
• Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom

Cited in

(1)

• Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs

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