Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

DOI10.1007/s11044-012-9303-1zbMath1271.70023OpenAlexW1995235022MaRDI QIDQ364067

Zeljko Situm, Tihomir Zilic, Mario Essert, Josip Kasac

Publication date: 5 September 2013

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-012-9303-1

zbMATH Keywords

stabilizationsliding mode controltrajectory trackingactuators dynamicssecond-order nonholonomic systemsunderactuated nonlinear mechanical systems

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Related Items (6)

A simple and quick control strategy for a class of first-order nonholonomic manipulator ⋮ Calculating road input data for vehicle simulation ⋮ Computed torque control of redundant manipulators using general-purpose software in real-time ⋮ Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control ⋮ Universal Practical Tracking Control of a Planar Underactuated Vehicle ⋮ Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

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• Global time-varying stabilization of underactuated surface vessel

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