On passivity based control for partial stabilization of underactuated systems

Shiriaev, Anton S.; Kolesnichenko, Olga

doi:10.1109/cdc.2000.914117

Cited by 14 publications

(5 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Underactuation arises in numerous applications, such as gymnastic robots, walking robots, wheeled robots, swimming robots, space robots, and flying robots. The class of underactuated robots is thus large and complex, and the control problems are more difficult than those for fully actuated robots and often require the development of new tools for controller design (64,(104)(105)(106)(107)(108)(109).…”

Section: Underactuated Systemsmentioning

confidence: 99%

An Historical Perspective on the Control of Robotic Manipulators

Spong

2022

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

This article is an historical overview of control theory applied to robotic manipulators, with an emphasis on the early fundamental theoretical foundations of robot control. It discusses properties of robot dynamics that enable application of advanced control methods followed by robust and adaptive control of manipulators. It also discusses nonlinear control of underactuated robots and teleoperators. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

show abstract

Section: Underactuated Systemsmentioning

confidence: 99%

An Historical Perspective on the Control of Robotic Manipulators

Spong

2022

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

show abstract

“…In particular, the paper [6] examined the relation between partial stability and stability with respect to all variables for nonholonomic mechanical systems and proposed partial stability conditions. A partial stabilization problem for Lagrangian systems has been considered in [13,14]. Finite-time partial stabilization problem for chainedform and cascade systems has been studied, e.g., in [15,16].…”

Section: Introductionmentioning

confidence: 99%

Partial stabilization of nonholonomic systems with application to multi-agent coordination

Grushkovskaya,

Zuyev

2020

Preprint

View full text Add to dashboard Cite

This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration satisfies nonlinear controllability conditions with respect to the stabilizable variables. Under these assumptions, a time-periodic feedback control is constructed explicitly by using the inversion of the matrix composed of the control vector fields and their Lie brackets. The proposed control design scheme is applied to solving the leader-following problem for nonlinear multiagent systems. These results are illustrated with two examples of nonholonomic control problems: the partial stabilization of a rolling disc and the leader-following task for two unicycles.

show abstract

“…Specifically, the paper [14] explored the connection between partial stability and full-variable stability in nonholonomic mechanical systems, offering conditions for achieving partial stability. Issues of partial stabilization in the context of Lagrangian systems were investigated in [32], [18]. Controllers that utilize passivity-based approaches for partial stabilization have been suggested in [24], [3], [37].…”

Section: Introductionmentioning

confidence: 99%

Partial stabilization of nonholonomic systems with application to multi-agent coordination

Grushkovskaya

Zuyev

2020

2020 European Control Conference (ECC)

View full text Add to dashboard Cite

In this paper, the problem of partial stabilization of nonlinear systems along a given trajectory is considered. This problem is treated within the framework of stability of a family of sets. Sufficient conditions for the asymptotic stability of a oneparameter family of sets using time-dependent control in the form of trigonometric polynomials are derived. The obtained results are applied to a model mechanical system.

show abstract

On passivity based control for partial stabilization of underactuated systems

Cited by 14 publications

References 6 publications

An Historical Perspective on the Control of Robotic Manipulators

An Historical Perspective on the Control of Robotic Manipulators

Partial stabilization of nonholonomic systems with application to multi-agent coordination

Partial stabilization of nonholonomic systems with application to multi-agent coordination

Contact Info

Product

Resources

About