Results 141 to 150 of about 703 (181)
Some of the next articles are maybe not open access.
Controllability of a class of underactuated mechanical systems with symmetry
Automatica, 2002zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Vikram Manikonda, P. S. Krishnaprasad
openaire +2 more sources
Intelligent Control of Underactuated Mechanical System
2021In this chapter, we present the control methods for the multi-link planar underactuated manipulator (PUM) with one passive joint. Firstly, we present a continuous control strategy based on the differential evolution algorithm for the system with passive first joint to quickly realize its position-posture control objective.
Xuzhi Lai +4 more
openaire +1 more source
Identification of Underactuated Mechanical Systems
2017This chapter describes a parameter identification procedure, which aims to obtain an accurate model of actual experimental systems. The method is robust to disturbances that may be present in an experimental platform, only requiring the joint position and applied torque measurements.
Javier Moreno-Valenzuela +1 more
openaire +1 more source
Controlled invariants and trajectory planning for underactuated mechanical systems
52nd IEEE Conference on Decision and Control, 2013We study the problem of motion planning for underactuated mechanical systems. The idea is to reduce complexity by imposing via feedback a sufficient number of invariants and then compute a projection of the dynamics onto an induced invariant sub-manifold of the closed-loop system.
Anton S. Shiriaev +2 more
openaire +1 more source
Configuration Controllability of Mechanical Systems Underactuated by One Control
SIAM Journal on Control and Optimization, 2003The paper contains a detailed study of local configuration controllability for mechanical control systems within the affine (or linear) connection formalism. An extension of some previous results of \textit{A. W. Lewis} [Rep. Math. Phys. 42, No. 1--2, 135--164 (1998; Zbl 0976.53015)] for single-input case yields an useful characterization of local ...
Jorge Cortés 0001, Sonia Martínez
openaire +1 more source
ORBITAL STABILIZATION OF UNDERACTUATED MECHANICAL SYSTEMS
IFAC Proceedings Volumes, 2002This paper studies the problem of periodic stabilization of nonlinear underactuated mechanical systems. In opposition to the problem of stabilization of underactuated systems (i.e. acrobots, pendubots, etc.) to a fixed equilibrium, the problem of orbital stabilization of underactuated systems consists in finding control that leads to a stable periodic ...
Carlos Canudas-de-Wit +2 more
openaire +1 more source
Cascade normal forms for underactuated mechanical systems
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), 2002Introduces cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms are partially linear which results from a well-known fact that underactuated systems can be partially linearized using a change of control.
openaire +1 more source
Underactuated mechanical systems
2005In this chapter we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, flexible robots, walking, branchiating, and gymnastic robots.
openaire +1 more source
Analysis and Control of Underactuated Mechanical Systems [On the Shelf]
IEEE Robotics & Automation Magazine, 2014This book consists of five chapters and four appendixes. Each chapter ends with many excellent references. The first chapter is an introduction and historical literature review. There have been few attempts like this to assemble the literature and present a systematic framework for the control of underactuated mechanical systems (UMSs).
openaire +1 more source
Analysis and Control of Underactuated Mechanical Systems
2014This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often
Choukchou-Braham, Amal +3 more
openaire +1 more source