Singularity‐avoiding swing‐up control for underactuated three‐link gymnast robot using virtual coupling between control torques
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Publication:5174447
DOI10.1002/rnc.3082zbMath1305.93147OpenAlexW1944024893WikidataQ56425571 ScholiaQ56425571MaRDI QIDQ5174447
Min Wu, Ancai Zhang, Jin-Hua She, Xu-Zhi Lai
Publication date: 17 February 2015
Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rnc.3082
Automated systems (robots, etc.) in control theory (93C85) Linear-quadratic optimal control problems (49N10) Artificial intelligence for robotics (68T40)
Related Items (4)
Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint ⋮ Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering ⋮ A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach ⋮ Dynamic delayed feedback control for stabilizing the giant swing motions of an underactuated three-link gymnastic robot
Cites Work
- Sliding mode control of a class of underactuated systems
- Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
- 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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