A geometric approach to solving problems of control constraints: Theory and a DAE framework
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Publication:701940
DOI10.1023/B:MUBO.0000040800.40045.51zbMATH Open1066.70018OpenAlexW2079403996MaRDI QIDQ701940FDOQ701940
Krzysztof Kołodziejczyk, W. Blajer
Publication date: 17 January 2005
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1023/b:mubo.0000040800.40045.51
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Implicit ordinary differential equations, differential-algebraic equations (34A09) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Stabilization of systems by feedback (93D15)
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- A rotationless formulation of multibody dynamics: modeling of screw joints and incorporation of control constraints
- Index reduction by minimal extension for the inverse dynamics simulation of cranes
- Eliminating constraint drift in the numerical simulation of constrained dynamical systems
- Least action principles and their application to constrained and task-level problems in robotics and biomechanics
- Trajectory-tracking control from a multibody system dynamics perspective
- DAE Aspects in Vehicle Dynamics and Mobile Robotics
- Optimization-Based Design of Minimum Phase Underactuated Multibody Systems
- Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators
- Task-level approaches for the control of constrained multibody systems
- Combined open-loop and funnel control for underactuated multibody systems
- A simultaneous space‐time discretization approach to the inverse dynamics of geometrically exact strings
- Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
- Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
- Fault detection and isolation for discrete-time descriptor systems based on H−/L∞ observer and zonotopic residual evaluation
- End-effector trajectory tracking of flexible link parallel robots using servo constraints
- Numerical integration for the inverse dynamics of a large class of cranes
- A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle
- Application of stable inversion to flexible manipulators modeled by the absolute nodal coordinate formulation
- Structure of differential-algebraic equations for control problems in mechanics
- Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software
- A DAE Formulation for the Dynamic Analysis and Control Design of Cranes Executing Prescribed Motions of Payloads
- Real-time trajectory control of an overhead crane using servo-constraints
- Set-membership estimation based on ellipsoid bundles for discrete-time LPV descriptor systems
- Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
- Two approaches for feedforward control and optimal design of underactuated multibody systems
- Trajectory Control of Serial and Parallel Flexible Manipulators Using Model Inversion
- Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters
- Numerical approximation for singular second order differential equations
- Robust fault estimation observer in the finite frequency domain for descriptor systems
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