Tracking control design for underactuated constrained systems

Robotica

Volumn 24, Issue 5, 2006, Pages 591-593

  Jarzȩbowska, Elzbieta ^a  

^a WARSAW UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Non holonomic models; Tracking control; Underactuated systems

Indexed keywords

ACTUATORS; ALGEBRA; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); MATHEMATICAL MODELS;

NON-HOLONOMIC MODELS; TRACKING CONTROL; UNDERACTUATED SYSTEMS;

CONTROL SYSTEMS;

EID: 33750152338     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574706002657     Document Type: Article

References (5)

1. E. Jarzȩbowska, "Control oriented dynamic formulation of robotic systems with program constraints", Robotica, (to be published).
2. E. Jarzȩbowska, "On derivation of motion equations for systems with nonholonomic high-order program constraints", Multibody System Dynamics 7(3), 307-329 (2002).
3. G. Oriolo and Y. Nakamura, "Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators", Proc. of 30th CDC, 2398-2403 (1991).
4. M. Reyhanoglu, A. van der Schaft, N.H. McClamroch and I. Kolmanovsky, "Nonlinear control of a class of under-actuated systems", Proc. 35th Conf. on Decision and Control, Kobe, Japan (1996) pp. 1682-1687.
5. E. Jarzȩbowska, "Robot motion planning in the presence of program constraints", Robot Control 2003, Proc. Volume from the 7-th IFAC Symp., SYROCO'03 (eds: I. Duleba and J. Sasiadek) (Elsevier, 2004) 1, pp. 117-122.