Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only

DOI10.1016/j.apm.2014.10.010zbMath1443.70058OpenAlexW2078180703MaRDI QIDQ2338434

Min Wu, Ancai Zhang, Xu-Zhi Lai, Jin-Hua She

Publication date: 21 November 2019

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2014.10.010

zbMATH Keywords

nonlinear dynamicsunderactuated mechanical systemequivalent input disturbancehorizontal manipulator

Mathematics Subject Classification ID

Control of mechanical systems (70Q05)

Related Items (5)

Adaptive reliable output tracking of networked control systems against actuator faults ⋮ Nonlinear global stabilization control for the underactuated WAcrobot system ⋮ Neural fractional-order control of telescopic truck cranes ⋮ Output tracking control of switched nonlinear systems with multiple time-varying delays ⋮ Visual servoing tracking control of uncalibrated manipulators with a moving feature point

Cites Work

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• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
• Intelligent control for an acrobot
• Analysis of exclusively kinetic two-link underactuated mechanical systems
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• A new approach to the perfect regulation and the bounded peaking in linear multivariable control systems
• Nonlinear control of mechanical systems with an unactuated cyclic variable
• Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example
• Analysis of the energy‐based swing‐up control of the Acrobot

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