Global analysis of energy-based swing-up control for soft robot

DOI10.1016/J.AUTOMATICA.2023.111471MaRDI QIDQ6119736

Yuhang Yan, Xin Xin

Publication date: 20 February 2024

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

constant curvaturehomoclinic orbitswing-up controlenergy-based controlunderactuated systemsoft robotclosed-loop equilibrium point

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Homoclinic and heteroclinic orbits for dynamical systems (37C29)

Cites Work

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• Control Design and Analysis for Underactuated Robotic Systems
• Energy based control of the Pendubot
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Analysis of the energy‐based swing‐up control of the Acrobot

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