Underactuated robotics: a review
Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …
input of the underactuated robot is less than the degree of freedom of the system. It has the …
A survey of underactuated mechanical systems
An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
Adaptive fuzzy control for a class of MIMO underactuated systems with plant uncertainties and actuator deadzones: Design and experiments
T Yang, N Sun, Y Fang - IEEE Transactions on Cybernetics, 2021 - ieeexplore.ieee.org
In the field of modern industrial engineering, many mechanical systems are underactuated,
exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control …
exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control …
Neuroadaptive control for complicated underactuated systems with simultaneous output and velocity constraints exerted on both actuated and unactuated states
T Yang, N Sun, Y Fang - IEEE Transactions on Neural …, 2021 - ieeexplore.ieee.org
Due to limited workspace and safety requirements for practical underactuated mechanical
systems, it is necessary to restrict all to-be-controlled variables and their velocities within …
systems, it is necessary to restrict all to-be-controlled variables and their velocities within …
Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification
H Chen, N Sun - IEEE Transactions on Industrial Electronics, 2019 - ieeexplore.ieee.org
In practice, underactuated systems are widely used, and their control problems have
attracted much attention in recent years. For safety concerns or transient performance …
attracted much attention in recent years. For safety concerns or transient performance …
[BOEK][B] L2-Gain and Passivity Techniques in Nonlinear Control
A Van der Schaft - 2000 - Springer
In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …
approach of the previous chapter. Moreover, we will come to some kind of synthesis …
Adaptive neural network output feedback control of uncertain underactuated systems with actuated and unactuated state constraints
Underactuated systems are widely applied in industry, construction, manufacturing, etc., and
the complex working environment puts forward higher demands for safety and transient …
the complex working environment puts forward higher demands for safety and transient …
[BOEK][B] Geometric control of mechanical systems: modeling, analysis, and design for simple mechanical control systems
Page 1 49 Francesco Bullo Andrew D. Lewis TEXTS IN APPLIED MATHEMATICS
Geometric Control of Mechanical Systems Modeling, Analysis, and Design for Simple …
Geometric Control of Mechanical Systems Modeling, Analysis, and Design for Simple …
[BOEK][B] Modeling and control of complex physical systems: the port-Hamiltonian approach
V Duindam, A Macchelli, S Stramigioli, H Bruyninckx - 2009 - books.google.com
Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in
the study of complex multi-domain systems, methodologies that explicitly describe the …
the study of complex multi-domain systems, methodologies that explicitly describe the …
Interconnection and dam** assignment passivity-based control: A survey
Interconnection and dam** assignment passivitybased control is a technique that
regulates the behavior of nonlinear systems assigning a desired (portcontrolled …
regulates the behavior of nonlinear systems assigning a desired (portcontrolled …