Underactuated robotics: a review
Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …
input of the underactuated robot is less than the degree of freedom of the system. It has the …
A survey of underactuated mechanical systems
An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …
The swing up control problem for the acrobot
MW Spong - IEEE control systems magazine, 1995 - ieeexplore.ieee.org
Underactuated mechanical systems are those possessing fewer actuators than degrees of
freedom. Examples of such systems abound, including flexible joint and flexible link robots …
freedom. Examples of such systems abound, including flexible joint and flexible link robots …
Partial feedback linearization of underactuated mechanical systems
MW Spong - … of IEEE/RSJ International Conference on …, 1994 - ieeexplore.ieee.org
In this paper we discuss the partial feedback linearization control of underactuated
mechanical systems. We consider an n degree of freedom system having m actuated, or …
mechanical systems. We consider an n degree of freedom system having m actuated, or …
Underactuated mechanical systems
MW Spong - Control problems in robotics and automation, 2005 - Springer
In this chapter we discuss the control of underactuated mechanical systems. Underactuated
mechanical systems have fewer control inputs than degrees of freedom and arise in …
mechanical systems have fewer control inputs than degrees of freedom and arise in …
[图书][B] Differential neural networks for robust nonlinear control: identification, state estimation and trajectory tracking
AS Poznyak, EN Sanchez, W Yu - 2001 - books.google.com
This book deals with continuous time dynamic neural networks theory applied to the solution
of basic problems in robust control theory, including identification, state space estimation …
of basic problems in robust control theory, including identification, state space estimation …
On relationships among passivity, positive realness, and dissipativity in linear systems
The notions of passivity and positive realness are fundamental concepts in classical control
theory, but the use of the terms has varied. For LTI systems, these two concepts capture the …
theory, but the use of the terms has varied. For LTI systems, these two concepts capture the …
Backstepping sliding mode control applied to a miniature quadrotor flying robot
T Madani, A Benallegue - IECON 2006-32nd Annual …, 2006 - ieeexplore.ieee.org
This paper presents a new controller based on backstepping and sliding mode techniques
for miniature quadrotor helicopter. The system is formed by three inter-connected …
for miniature quadrotor helicopter. The system is formed by three inter-connected …
Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles
T Madani, A Benallegue - 2007 American control conference, 2007 - ieeexplore.ieee.org
In this paper, we propose a new approach of the backstepping control running parallel with
a sliding mode observer for a quadrotor unmanned aerial vehicle. The sliding mode …
a sliding mode observer for a quadrotor unmanned aerial vehicle. The sliding mode …
Control of underactuated mechanical systems using switching and saturation
In this paper we present some ideas on the control of underactuated mechanical systems
using switching and saturation. We focus on the swingup control problem for a class of …
using switching and saturation. We focus on the swingup control problem for a class of …