Control of nonlinear mechanical systems

European Journal of Control

Volumn 7, Issue 2-3, 2001, Pages 328-348

  Fantoni, Isabelle ^a   Lozano, Rogelio ^a  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

Aerospace systems; Dissipative and energy based design; Lyapunov design; Mechatronic systems; Stabilization of nonlinear systems

Indexed keywords

EID: 4544267292     PISSN: 09473580     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0947-3580(01)71153-3     Document Type: Article

References (37)

1. Aström KJ, Furuta K. Swinging up a pendulum by energy control. Automatica 2000; 36(2): 287-295
2. Ahmad N. Atassi, Hassan K. Khalil. A separation principle for the stabilization of a class of nonlinear systems. IEEE Trans. Autom Control 1999; 44(9): 1672-1687
3. Block DJ. Mechanical design and control of the pendubot. Master's thesis, University of Illinois, Urbana-Champaign, IL, USA, 1996
4. Fantoni I, Lozano R, Mazenc F, Annaswamy AM. Stabilization of a two-link robot using an energy approach. In: Proceedings of the European Control Conference ECC'1999. Karlsruhe, Germany, 1999
5. Fantoni I, Lozano R, Spong MW. Energy based control of the pendubot. IEEE Trans Autom Control 2000; 45(4): 725-729
6. Fradkov AL. Swinging control of nonlinear oscillations. Int J Control 1996; 64(6): 1189-1202
7. Godhavn J-M. Topics in Nonlinear Motion Control. PhD thesis, Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway 1997
8. Goldstein H. Classical Mechanics. Addison-Wesley Series in Physics. Addison-Wesley, U.S.A., 2nd ed. 1980
9. Hauser J, Sastry S, Meyer G. Nonlinear control design for slightly nonminimum phase systems: Application to V/STOL aircraft. Automatica 1992; 28(4): 665-679
10. Hill DJ. Preliminaries on passivity and gain analysis. IEEE CDC Tutorial workshop on nonlinear controller design using passivity and small-gain techniques, 1994
11. Horn RA, Johnson CR. Matrix analysis. Cambridge University Press 1985
12. Isidori A. Nonlinear control systems: an introduction. 3rd ed. Springer-Verlag, Berlin 1995
13. Atlee Jackson E. Perspectives of nonlinear dynamics. Cambridge University Press 1989
14. Jakubczyk B, Respondek W. On the linearization of control systems. Bull. Acad. Polon. Sci. Math 1980; 28: 517-522
15. Khalil HK. Non-linear systems. 2nd ed. Prentice Hall 1996
16. Levine WS. The control handbook. CRC Press in cooperation with IEEE Press 1996
17. Lin F, Zhang W, Brandt RD. Robust hovering control of a PVTOL aircraft. IEEE Trans Control Systems Technol 1999; 7(3): 343-351
18. Lozano R, Brogliato B, Egeland O, Maschke B. Dissipative systems analysis and control: theory and applications. Springer-Verlag, Communications and Control Engineering Series, London 2000
19. Lozano R, Fantoni I, Block DJ. Stabilization of the inverted pendulum around its homoclinic orbit. Systems Control Lett 2000; 40(3): 197-204
20. Makhlin A. Design and control of an inverted pendulum system. Master's thesis, University of Illinois, Urbana-Champaign, IL, USA 1998
21. Martin P, Devasia S, Brad Paden. A different look at output tracking: Control of a VTOL aircraft. Automatica, 1996; 32(1): 101-107
22. Mazenc F. Stabilisation de trajectoires, ajout d'intégration, commande saturées. PhD thesis, Ecole des Mines de Paris 1996
23. Mazenc F, Praly L. Adding integrations, saturated controls, and stabilization for feedforward systems. IEEE Trans Autom Control 1996; 41(11): 1559-1578
24. Nijmeijer H, van der Schaft AJ. Nonlinear Dynamical Control Systems. Springer-Verlag 1990
25. Olfati-Saber R. Global configuration stabilization for the VTOL aircraft with strong input coupling. In Proceedings of the 39th IEEE Conf. on Decision and Control, Sidney, Australia Dec. 2000
26. Praly L. Stabilisation du système pendule-chariot: Approche par assignation d'énergie, personal communication 1995
27. Sepulchre R, Janković M, Kokotović P. Constructive Nonlinear Control. Springer-Verlag, London 1997
28. Shiriaev AS. Control of oscillations in affine nonlinear systems. In: Proceedings of the IFAC conference "System Structure and Control", Nantes, France 1998 pp 789-794
29. Shiriaev AS. The notion of v-detectability and stabilization of invariant sets of nonlinear systems. In Proceedings of the 37th IEEE Conference on Decision and Control, CDC 98, Tampa, FL, USA, December 1998 pp 2509-2514
30. Shiriaev AS, Fradkov AL. Stabilization of invariant manifolds for nonlinear non-affine systems. In Preprints of the 4th IFAC NOLCOS'98, Enschede, The Netherlands 1998. pp 215-220
31. Sira-Ramirez H, Castro-Linares R. On the regulation of a helicopter system: A trajectory planning approach for the Liouvillian model. In: Proceedings of the European Control Conference ECC'1999, 1999
32. Spong MW. The swing up control of the acrobot. In. IEEE International Conference on Robotics and Automation, San Diego, CA 1994
33. Spong MW, Corke P, Lozano R. Nonlinear control of the inertia wheel pendulum. Automatica 2001 (to appear)
34. Spong MW, Praly L. Control of underactuated mechanical systems using switching and saturation. In: Proceedings of the Block Island Workshop on Control Using Logic Based Switching 1996
35. Spong MW, Vidyasagar M. Robot Dynamics and Control. John Wiley & Sons, Inc. 1989
36. Andrew R. Teel. A nonlinear small gain theorem for the analysis of control systems with saturation. IEEE Transactions on Automatic Control 1996; 41(9): 1256-1270
37. Verduzco F, Alvarez J. Stability and Bifurcations of an Underactuated Robot Manipulator. CICESE, Mexico