Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy

DOI10.1016/J.AMC.2014.12.065zbMath1338.70033OpenAlexW2067049929MaRDI QIDQ298825

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

Publication date: 21 June 2016

Published in: Applied Mathematics and Computation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.amc.2014.12.065

zbMATH Keywords

trajectory trackingequivalent input disturbance (EID)gymnast robotunderactuated mechanical system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (8)

Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator ⋮ Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms ⋮ Chaos suppression in speed control for permanent-magnet-synchronous-motor drive system ⋮ Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum ⋮ Disturbance rejection in nonlinear systems based on equivalent-input-disturbance approach ⋮ Modeling and anti-swing control for a helicopter slung-load system ⋮ Nonlinear global stabilization control for the underactuated WAcrobot system ⋮ Output tracking control of switched nonlinear systems with multiple time-varying delays

Cites Work

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• Analysis of exclusively kinetic two-link underactuated mechanical systems
• Motion planning and tracking control for an acrobot based on a rewinding approach
• 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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