Results 151 to 160 of about 703 (181)
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IFAC Proceedings Volumes, 2008
Abstract 10 years ago, K.J. Astrom proposed that the essence of the complex control problem originated by the joint of the pilot–&–aircraft can be captured on labs, by means of unstable underactuated mechanical systems. Thus, the unactuated part describes the autonomous aircraft dynamics and the actuated the piloted one.
J.Á. Acosta, M. López-Martínez
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Abstract 10 years ago, K.J. Astrom proposed that the essence of the complex control problem originated by the joint of the pilot–&–aircraft can be captured on labs, by means of unstable underactuated mechanical systems. Thus, the unactuated part describes the autonomous aircraft dynamics and the actuated the piloted one.
J.Á. Acosta, M. López-Martínez
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Nonlinear suboptimal control for a class of underactuated mechanical systems
2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2015This paper addresses to the problem of suboptimal control for a class of chained underactuated mechanical systems, whose dynamic linearization contains uncontrollable stable modes. In order to bring the system to its linearity domain and stabilize it without need of a switching control, a suboptimal control technique is proposed, based on the energy of
Bonifacio Sanchez +3 more
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Improvements in direct Lyapunov stabilization of underactuated, mechanical systems
2008 American Control Conference, 2008A Lyapunov direct method is presented for the stabilization of underactuated, mechanical systems. The Lyapunov approach provides the tools for control law design. This work represents a continued development of previously published techniques. The major contribution of the presentation is that a method is demonstrated for assuring the positive ...
Warren N. White +4 more
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A direct Lyapunov approach for a class of underactuated mechanical systems
2006 American Control Conference, 2006A Lyapunov direct method is proposed for a class of underactuated, mechanical systems. The direct method is derived in general for systems having n degrees of freedom of which only m < n are actuated. The applications consist of a class of systems where the elements of the mass/inertia matrix and the gravitational forces/torques are either constants or
Warren N. White, Mikil Foss, Xin Guo
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Oscillation, Orientation, and Locomotion of Underactuated Multilink Mechanical Systems
IEEE Transactions on Control Systems Technology, 2013We consider a class of multilink mechanical systems arising from undulatory locomotion of multisegmental slender animals. All the body joints are assumed to have actuators, but the system is underactuated because of the lack of direct control over the position and orientation within the inertial frame.
Lijun Zhu 0001 +2 more
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Periodic motion planning and control for underactuated mechanical systems
International Journal of Control, 2017We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems.
Zeguo Wang +2 more
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Global Bifurcation Analysis of a Controlled Underactuated Mechanical System
Nonlinear Dynamics, 2005To investigate underactuated control problems is of great practical importance either because such problems naturally occur (e.g. dynamics of ships) or for the case of failure of an actuator. By an underactuated control problem one understands a system which has more degrees of freedom than independent control inputs. In this paper, bificuration theory
Alonso, Diego M. +2 more
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A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems
2007 American Control Conference, 2007Control of underactuated systems is treated from a Lyapunov direct method approach. The method results in a set of three matching conditions, the solution of which is easily accomplished. The method developed is capable of treating more complicated systems than that reported in an earlier publication.
Warren N. White, Mikil Foss, Xin Guo
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Trajectory Planning for Kinematically Controllable Underactuated Mechanical Systems
2004We develop trajectory planners for a class of second-order underactuated mechanical systems called kinematically controllable systems. For kinematically controllable systems, the problem of planning fast collision-free trajectories can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time ...
Prasun Choudhury, Kevin M. Lynch
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IDA-PBC with adaptive friction compensation for underactuated mechanical systems
International Journal of Control, 2021Enrico Franco
exaly