Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
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Publication:1036663
DOI10.1016/j.automatica.2009.04.023zbMath1175.93167OpenAlexW1556916212WikidataQ56419762 ScholiaQ56419762MaRDI QIDQ1036663
Xin Xin, Jin-Hua She, Taiga Yamasaki, Yannian Liu
Publication date: 13 November 2009
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2009.04.023
passivityLyapunov stability theoryswing-up controlunderactuated robots\(n\)-DOF (degree of freedom)virtual composite link
Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)
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