Linear strong structural controllability and observability of an \(n\)-link underactuated revolute planar robot with active intermediate joint or joints

DOI10.1016/J.AUTOMATICA.2018.04.050zbMath1401.93147OpenAlexW2807694287MaRDI QIDQ1797148

Xin Xin

Publication date: 17 October 2018

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2018.04.050

zbMATH Keywords

controllableobservableunderactuationactive joint(s)multilink planar robotstrong structural

Mathematics Subject Classification ID

Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07)

Related Items (3)

Adaptive integral sliding mode control with payload sway reduction for 4-DOF tower crane systems ⋮ Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint ⋮ Nonlinear global stabilization control for the underactuated WAcrobot system

Cites Work

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• Fast projection methods for minimal design problems in linear system theory
• Generic properties and control of linear structured systems: A survey
• Control Design and Analysis for Underactuated Robotic Systems
• Controllability and Observability of an -Link Planar Robot with a Single Actuator Having Different Actuator–Sensor Configurations
• Strong Structural Controllability
• Controllability and local accessibility - A normal form approach
• Strong Structural Controllability and the Multilink Inverted Pendulum

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