A simple and quick control strategy for a class of first-order nonholonomic manipulator

DOI10.1007/s11071-016-2827-9zbMath1349.70028OpenAlexW2391390033MaRDI QIDQ345614

Min Wu, Jun-Qing Cao, Xu-Zhi Lai, Ya-Wu Wang

Publication date: 2 December 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-2827-9

zbMATH Keywords

Lyapunov functionenumeration methodnonholonomic constraintparticle swarm optimization algorithmunderactuated manipulator

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (4)

Adaptive robust control for planar \(n\)-link underactuated manipulator based on radial basis function neural network and online iterative correction method ⋮ A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system ⋮ Control strategy based on Fourier transformation and intelligent optimization for planar Pendubot ⋮ A new control method for planar four-link underactuated manipulator based on intelligence optimization

Cites Work

• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
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• Energy-consistent numerical integration of mechanical systems with mixed holonomic and nonholonomic constraints
• Control of nonlinear mechanical systems
• Dynamics and control of a class of underactuated mechanical systems
• Energy based control of the Pendubot
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
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