Hybrid position/force tracking for a class of constrained mechanical systems

DOI10.1016/0167-6911(91)90139-6zbMath0749.93044OpenAlexW2128023099MaRDI QIDQ1189169

Jing-Sin Liu

Publication date: 26 September 1992

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(91)90139-6

zbMATH Keywords

roboticshybrid controlconstrained systemsEuler-Lagrange equations of motionhybrid tracking problem

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems

Cites Work

• Feedback stabilization and tracking of constrained robots
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
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