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

拥护者

Counter-Weighted Acrobot,actuated variable(s) to some given desired values by studying a CWA (Counter-Weighted Acrobot), which is a modified DDA with its first link having a counterweight and only its second link being actuated. By analyzing globally the solution of the closed-loop system consisted of the CWA and the contro

动机

fulmination

2-Link Underactuated Robot with Flexible Elbow Joint,int and a spring between the two links (flexible elbow joint). First, it presents two new properties of such a flexible robot about the linear controllability at the upright equilibrium point (where two links are in the upright position) and about its equilibrium configuration. Second, it shows that

Femish

3-Link Planar Robot with Passive First Joint,nd 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

cartilage

,-Link Planar Robot with Passive First Joint,others being active. The goal of this chapter is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point with all links in the upright position. To achieve this challenging control objective while preventing the ro

Outspoken

,-Link Planar Robot with Single Passive Joint,yze 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

噱头

Common-Migraine

Double Pendulum on Cart,ees 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

暗讽

3-Link Planar Robot with Two Passive Joints,P 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

音乐学者

2-Link Flying Robot, nonzero initial angular momentum, the control objective is to design an acceleration-based control law such that the robot can pass through a desired posture at a given time. This posture control problem is tackled by solving the problem of stabilizing the origin of a system obtained via an appropr