Nonlinear control of mechanical systems with one degree of underactuation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 2222-2228

  Chevallereau, C ^a   Grizzle, J W ^b   Moog, C H ^a  

^a ECOLE CENTRALE DE NANTES   (France)

^b UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; EIGENVALUES AND EIGENFUNCTIONS; FEEDBACK CONTROL; KINETIC ENERGY; LAGRANGE MULTIPLIERS; MATHEMATICAL MODELS; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION;

CYCLIC VARIABLES; MECHANICAL SYSTEMS; NONHOLONOMIC SYSTEMS; UNDERACTUATION;

ROBOTICS;

EID: 3042669586     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307392     Document Type: Conference Paper

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