Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint

Automatica

Volumn 45, Issue 9, 2009, Pages 1986-1994

  Xin, Xin ^a   She, Jin Hua ^b   Yamasaki, Taiga ^a   Liu, Yannian ^c  

^a OKAYAMA PREFECTURAL UNIVERSITY   (Japan)

^b TOKYO UNIVERSITY OF TECHNOLOGY   (Japan)

^c Solution Division   (Japan)

Author keywords

Lyapunov stability theory; n DOF (degree of freedom); Passivity; Swing up control; Underactuated robots; Virtual composite link

Indexed keywords

LYAPUNOV STABILITY THEORY; N-DOF (DEGREE OF FREEDOM); PASSIVITY; SWING-UP CONTROL; UNDERACTUATED ROBOTS; VIRTUAL COMPOSITE LINK;

CONTROL SYSTEM ANALYSIS; DIFFERENTIAL EQUATIONS; LYAPUNOV FUNCTIONS; MACHINE DESIGN; PASSIVATION; ROBOTS; SYSTEM STABILITY;

CONTROLLERS;

EID: 68149158424     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2009.04.023     Document Type: Article

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