[書籍][B] Feedback systems: an introduction for scientists and engineers
KJ Åström, R Murray - 2021 - books.google.com
The essential introduction to the principles and applications of feedback systems—now fully
revised and expanded This textbook covers the mathematics needed to model, analyze, and …
revised and expanded This textbook covers the mathematics needed to model, analyze, and …
Flatness and defect of non-linear systems: introductory theory and examples
We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …
called endogenous. Their physical properties are subsumed by a linearizing output and they …
Developments in nonholonomic control problems
Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …
published literature has grown enormously during the last six years, and it is now possible to …
Control of nonholonomic wheeled mobile robots by state feedback linearization
B d'Andréa-Novel, G Campion… - … International journal of …, 1995 - journals.sagepub.com
We are concerned in this article with the control of wheeled mobile robots, which constitute a
class of nonholonomic mech anical systems. More precisely, we are interested in solving the …
class of nonholonomic mech anical systems. More precisely, we are interested in solving the …
[PDF][PDF] Differential flatness of mechanical control systems: A catalog of prototype systems
RM Murray, M Rathinam, W Sluis - ASME international mechanical …, 1995 - Citeseer
This paper describes the application of di erential atness techniques from nonlinear control
theory to mechanical (Lagrangian) systems. Systems which are di erentially at have several …
theory to mechanical (Lagrangian) systems. Systems which are di erentially at have several …
Dynamic nonprehensile manipulation: Controllability, planning, and experiments
We are interested in using low-degree-of-freedom robots to perform complex tasks by
nonprehensile manipulation (manipulation without aformorforce-closure grasp). By …
nonprehensile manipulation (manipulation without aformorforce-closure grasp). By …
Nonholonomic navigation and control of cooperating mobile manipulators
This paper presents the first motion planning methodology applicable to articulated,
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …
Nonlinear control of mechanical systems: A Lagrangian perspective
RM Murray - Annual Reviews in Control, 1997 - Elsevier
Recent advances in geometric mechanics, motivated in large part by applications in control
theory, have introduced new tools for understanding and utilizing the structure present in …
theory, have introduced new tools for understanding and utilizing the structure present in …
Trajectory generation for the N-trailer problem using Goursat normal form
Develops the machinery of exterior differential forms, more particularly the Goursat normal
form for a Pfaffian system, for solving nonholonomic motion planning problems, ie, motion …
form for a Pfaffian system, for solving nonholonomic motion planning problems, ie, motion …