Titlebook: Control Design and Analysis for Underactuated Robotic Systems; Xin Xin,Yannian Liu Book 2014 Springer-Verlag London 2014 Energy- and Passi

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https://doi.org/10.1007/978-3-642-83660-2condition such that the control law has no singularities for all states of the rotational pendulum. Next, it carries out a global motion analysis of the pendulum, and it removes the previous required constraint on the initial state of the pendulum and the control parameters for preventing the pendul

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J. Gruia-Gray,M. Petric,S. S. Dessernd the rest being active (actuated). The goal of this chapter is to design and analyze a controller under which the robot can be brought into any arbitrarily small neighborhood of the upright equilibrium point, where all three links of the robot remain in the upright position. To tailor the energy-b

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J. Gruia-Gray,M. Petric,S. S. Desseryze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point, where all the links are in the upright position. This chapter presents a unified solution based on the notion of virtual composite link (VCL), which is a virtual link made up

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Salmon Herpesvirus: OMV, , Virus convergence of the energy and the motion of the two pendulums. For the two pendulums with the different natural frequencies, irrespective of initial state of the two pendulums, this chapter shows that the energy of each pendulum converges to either of two values, and the motion of the two pendulums

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https://doi.org/10.1007/978-3-642-83771-5ees of freedom and only one control input) with the control objective of controlling the total mechanical energy of the system, the velocity and displacement of the cart. Under the energy-based controller, this chapter shows that for all initial states of the double-pendulum on a cart, the velocity

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https://doi.org/10.1007/978-3-642-83771-5P robot below) by using the energy-based control approach. The control objective is to control simultaneously the total mechanical energy, the angular velocity and the angular displacement of the link 1 of the robot to their values corresponding to those at the upright equilibrium point, where all t