Modelling and control of a underactuated sphere and beam system

DOI10.1016/j.cnsns.2010.04.048zbMath1221.70042OpenAlexW2064824279MaRDI QIDQ718547

Andrzej Burghardt, Józef Giergiel

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.2010.04.048

zbMATH Keywords

beamadaptive controlsphereunderactuated systemsLagrange's equation

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05)

Uses Software

• Matlab
• Simulink

Cites Work

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• Control of underactuated mechanical systems with servo-constraints
• Stability of a bottom-heavy underwater vehicle
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Lie Brackets and Local Controllability: A Sufficient Condition for Scalar-Input Systems
• Configuration Controllability of Simple Mechanical Control Systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

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