Control of a class of underactuated mechanical systems

DOI10.1016/J.NAHS.2006.04.009zbMath1157.70018OpenAlexW2071848173MaRDI QIDQ1003512

Tatsuo Narikiyo, Kazutomo Misao, Junichiro Sahashi

Publication date: 4 March 2009

Published in: Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.nahs.2006.04.009

zbMATH Keywords

decoupling vector fieldspassive velocity field controlplanar three-link manipulator

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• Passive velocity field control (PVFC). Part I. Geometry and robustness
• Passive velocity field control (PVFC). Part II. Application to contour following
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

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