Tracking control of an underactuated rigid body with a coupling input force

DOI10.2478/ACSC-2014-0019MaRDI QIDQ5175672zbMATH OpenOpenAlexFDO

Authors Sebastian Korczak

Publication date 24 February 2015

Published in Archives of Control Sciences (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL http://acs.polsl.pl/index.php?mode=2&show=61

zbMATH Keywords

computed torquecoupling forcetrackingunderactuated system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

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Cited in

(5)

• A dynamic coupling index for underactuated manipulators
• Contact force estimation and regulation in active pantographs: An algebraic observability approach
• Controller Class for Rigid Body Tracking on $\mathsf {SO}(3)$
• Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization
• Caster car -- underactuated ground vehicle with caster wheels

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