Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint
type: Item
instance of: scholarly article
title: Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint
zbMATH Open document ID: 1380.70022
author: Yannian Liu
author: Xin Xin
published in: Nonlinear Dynamics
publication date: 2018-02-15T00:00:00Z
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93D05
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 6839026
zbMATH Keywords: underactuated mechanical systems
zbMATH Keywords: 3-link planar robot
zbMATH Keywords: two passive joints
zbMATH Keywords: underactuation degree two
zbMATH Keywords: energy-based control
zbMATH Keywords: global motion analysis
zbMATH Keywords: Lyapunov stability theory
MaRDI profile type: Publication
full work available at URL: s11071-017-3343-2
OpenAlex ID: W2581123948
cites work: Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
cites work: A limit set stabilization by means of the Port Hamiltonian system approach
cites work: On the sliding mode control of a ball on a beam system
cites work: Adaptive antiswing control for cranes in the presence of rail length constraints and uncertainties
cites work: Strong Structural Controllability and the Multilink Inverted Pendulum
cites work: A prediction‐based nonlinear controller for stabilization of a non‐minimum phase PVTOL aircraft
cites work: Control of nonlinear mechanical systems
cites work: Energy based control of the Pendubot
cites work: Nonlinear control of mechanical systems with an unactuated cyclic variable
cites work: Global tracking control of underactuated ships by Lyapunov's direct method
cites work: Nonlinear systems.
cites work: Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
cites work: Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control
cites work: A controller for 2-DOF underactuated mechanical systems with discontinuous friction
cites work: Analysis of the energy-based swing-up control for the double pendulum on a cart
cites work: Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
cites work: A continuous feedback approach to global strong stabilization of nonlinear systems
cites work: Stabilization of invariant sets for nonlinear non-affine systems
cites work: An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation
cites work: Dynamics and control of a multi-body planar pendulum
cites work: Analysis of the energy‐based swing‐up control of the Acrobot
DOI: 10.1007/S11071-017-3343-2
Recommended article: A general control strategy for planar 3-DoF underactuated manipulators with one passive joint
Recommended article: Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint
Recommended article: Controllability and Observability of an -Link Planar Robot with a Single Actuator Having Different Actuator–Sensor Configurations
Recommended article: Control of a three-link robot moving on the plane with friction
Recommended article: Analysis and control of a two-link and three-joint elastic robot arm
Recommended article: A unified perspective on robot control: The energy lyapunov function approach
Recommended article: Q3506022
Recommended article: Energy-optimal control of unconstrained planar RR robot manipulators
Recommended article: Global stability analysis for some trajectory-tracking control schemes of robotic manipulators
description: scientific article; zbMATH DE number 6839026