Nonlinear control of mechanical systems with an unactuated cyclic variable

IEEE Transactions on Automatic Control

Volumn 50, Issue 5, 2005, Pages 559-576

  Grizzle, J W ^a   Moog, Claude H ^b   Chevallereau, Christine ^b  

^a UNIVERSITY OF MICHIGAN   (United States)

^b ECOLE CENTRALE DE NANTES   (France)

Author keywords

Asymptotic stability; Feedforward systems; Mechanical systems; Nonlinear control; Robots; Underactuation; Zero dynamics

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; EQUATIONS OF MOTION; FEEDBACK; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROBOTS; THEOREM PROVING;

FEEDFORWARD SYSTEMS; MECHANICAL SYSTEMS; UNDERACTUATION; ZERO DYNAMICS;

NONLINEAR CONTROL SYSTEMS;

EID: 20344393889     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2005.847057     Document Type: Article

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