Robust control of a non-holonomic underactuated 2-DOF SCARA type robot;Robuste Regelung eines nicht-holonomen, unteraktuierten SCARA roboters

At-Automatisierungstechnik

Volumn 47, Issue 5, 1999, Pages 199-208

  Mareczek, Jörg ^a   Buss, Martin ^a   Schmidt, Günther ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 79958714677     PISSN: 01782312     EISSN: None     Source Type: Journal    
DOI: 10.1524/auto.1999.47.5.199     Document Type: Article

References (10)

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3. M. W. Spong: Partial Feedback Linearization of Underactuated Mechanical Systems, in Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems IROS, (München), pp. 314-321, 1994.
4. J. Mareczek, M. Buss, and G. Schmidt: Comparison of Control Algorithms for a Nonholonomic Underactuated 2-DOF Robot, in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM’97, (Tokyo, Japan, Paper No. 96), 1997.
5. J. Mareczek, M. Buss, and G. Schmidt: Robust Global Stabilization of the Underactuated 2-DOF Manipulator R2D1, in Proceedings of the IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 2640-2645, 1998.
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7. F. Allgöwer: Näherungsweise Ein-/Ausgangs-Linearisierung nichtlinearer Systeme, in Fortschr.-Ber. VDI Reihe 8 Nr. 582 (F. Allgöwer, ed.), Düsseldorf: VDI Verlag, 1996.
8. M. S. Branicky: Stability of switched and hybrid systems, in Proc. 33rd IEEE Conf Decision Control, (Lake Buena Vista), pp. 3498-3503, 1994.
9. D. Goldberg: Algorithms in Search, Optimization, and Machine Learning. Addison-Wiley Publishing Company, Inc., 1989.
10. http://www.lsr.ei.tum.de/movies/dd32.mpg. Lehrstuhl für Steuerungs- und Regelungstechnik LSR, Technische Universität München.