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Composite control of the n -link chained mechanical systems

Jiří Zikmund (2008)

Kybernetika

In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n -link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilization...

Convergenza per l'equazione degli integrali primi associata al problema del rimbalzo

Michele Carriero, Antonio Leaci, Eduardo Pascali (1982)

Atti della Accademia Nazionale dei Lincei. Classe di Scienze Fisiche, Matematiche e Naturali. Rendiconti Lincei. Matematica e Applicazioni

In this paper we present a few results on convergence for the prime integrals equations connected with the bounce problem. This approach allows both to prove uniqueness for the one-dimensional bounce problem for almost all permissible Cauchy data (see also [6]) and to deepen previous results (see [3], [5], [7]).

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