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Control of underactuated mechanical systems via passive velocity field control: Application to snakeboard and 3D rigid body

✍ Scribed by Tatsuo Narikiyo

Publisher: Elsevier Science
Year: 2009
Tongue: English
Weight: 426 KB
Volume: 71
Category: Article
ISSN: 0362-546X
DOI: 10.1016/j.na.2009.05.055

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✍ I.V. Burkov 📂 Article 📅 1998 🏛 Elsevier Science 🌐 English ⚖ 655 KB

A method for the asymptotic stabilization of a natural mechanical system is proposed which does not require measurements of the velocities of the system, but requires the solution of linear differential equations during the control process.