Configuring tasks as constraints for coordinated mechanical systems: a Udwadia-Kalaba theory based adaptive robust control

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Cites Work

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An application of the Udwadia-Kalaba dynamic formulation to flexible multibody systems
Coordinated fuzzy control of robotic arms with actuator nonlinearities and motion constraints
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On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
Finite-time command filtered backstepping control for a class of nonlinear systems
The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach
A new approach to control design for constraint-following for fuzzy mechanical systems
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A new perspective on the tracking control of nonlinear structural and mechanical systems
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Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators

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