Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification

DOI10.1016/j.cnsns.2010.04.047zbMath1221.70041OpenAlexW2047549607MaRDI QIDQ718533

Krzysztof Kołodziejczyk, Wojciech Blajer, Zenon Mazur, Krzysztof Dziewiecki

Publication date: 23 September 2011

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2010.04.047

zbMATH Keywords

underactuated systemsdifferential flatnessinverse dynamics control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Dynamical systems in control (37N35)

Related Items (8)

On the effect of damping on the stabilization of mechanical systems via parametric excitation ⋮ Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics ⋮ Calculating road input data for vehicle simulation ⋮ Two approaches for feedforward control and optimal design of underactuated multibody systems ⋮ Differential-flatness-based finite-time anti-swing control of underactuated crane systems ⋮ Trajectory tracking control of variable length pendulum by partial energy shaping ⋮ Stabilization via parametric excitation of multi-dof statically unstable systems ⋮ Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only

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