Effective position–posture control strategy based on switching control for planar three-link underactuated mechanical system

DOI10.1080/00207721.2017.1305134zbMath1371.93181OpenAlexW2604131559MaRDI QIDQ5363163

Pan Zhang, Ya-Wu Wang, Min Wu, Xu-Zhi Lai

Publication date: 5 October 2017

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2017.1305134

zbMATH Keywords

Lyapunov functionposition-posture controlswitch controlinverse kinematics calculateplanar underactuated mechanical system

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and storage functions (93D30) Control of mechanical systems (70Q05) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

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