Analysis of exclusively kinetic two-link underactuated mechanical systems

DOI10.1016/S0005-1098(02)00048-1zbMath1005.93011MaRDI QIDQ1614429

B. Srinivasan, Dominique Bonvin, Philippe Müllhaupt

Publication date: 5 September 2002

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

underactuated mechanical systemsmall-time local controllabilitynonminimum phase systemfull-state feedback linearizability

Mathematics Subject Classification ID

Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Control of mechanical systems (70Q05)

Related Items

Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy, Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms, Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only

Cites Work

• Analytical dynamics of discrete systems
• Lie Brackets and Local Controllability: A Sufficient Condition for Scalar-Input Systems
• Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems
• Configuration Controllability of Simple Mechanical Control Systems
• Unnamed Item
• Unnamed Item
• Unnamed Item