Displaying similar documents to “Control of the underactuated mechanical systems using natural motion”

A Lyapunov-based design tool of impedance controllers for robot manipulators

Marco Mendoza, Isela Bonilla, Fernando Reyes, Emilio González-Galván (2012)

Kybernetika

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This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance...

A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms

Paolo Mercorelli (2012)

Kybernetika

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In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A geometric control procedure...

Finite-time cooperative tracking control for a class of second-order nonlinear multi-agent systems

Haibo Du, Yigang He, Yingying Cheng (2013)

Kybernetika

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The problem of finite-time cooperative tracking control for a class of second-order nonlinear multi-agent systems is studied in this paper. The agent dynamic is described by a second-order nonlinear system with uncertain time-varying control coefficients and unknown nonlinear perturbations. Based on the finite-time control technique and graph theory, a class of distributed finite-time control laws are proposed which are only based on the neighbors' information. Under the proposed controller,...