Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint

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

zbMATH Keywords

passivityLyapunov stability theoryswing-up controlunderactuated robots\(n\)-DOF (degree of freedom)virtual composite link

Mathematics Subject Classification ID

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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