New results on control of multibody systems which conserve angular momentum

DOI10.1007/BF02255892zbMath0949.70020OpenAlexW2032873991MaRDI QIDQ1972700

Vincent T. Coppola, N. Harris Mcclamroch, Ilya V. Kolmanovsky

Publication date: 13 April 2000

Published in: Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf02255892

zbMATH Keywords

angular momentumorientationjoint actuatorsone-degree-of-freedom frictionless rotational jointsopen kinematic treeplane multilinkreconfiguration of multilink

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Dynamics of multibody systems (70E55)

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Controllability and motion planning for noncatastatic nonholonomic control systems, Optimal control of attitude for coupled-rigid-body spacecraft via Chebyshev-Gauss pseudospectral method

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