Shape space planner for shape-accelerated balancing mobile robots
U Nagarajan, R Hollis - The International Journal of Robotics …, 2013 - journals.sagepub.com
This paper introduces shape-accelerated balancing systems as a special class of
underactuated systems wherein their shape configurations can be mapped to the …
underactuated systems wherein their shape configurations can be mapped to the …
Control of differentially flat mechanical systems in the presence of uncertainty
K Glass, R Colbaugh… - Proceedings of the 1997 …, 1997 - ieeexplore.ieee.org
Considers the problem of controlling differentially flat nonholonomic mechanical systems in
the presence of system model uncertainty. Note that, despite the importance of the effects of …
the presence of system model uncertainty. Note that, despite the importance of the effects of …
Stabilization and output tracking for underactuated mechanical systems with inequality state constraints
HG Tanner, KJ Kyriakopoulos - 2001 IEEE/ASME International …, 2001 - ieeexplore.ieee.org
The paper presents a method to determine the feasibility of stabilization to an equilibrium
manifold or exact output tracking for underactuated mechanical systems that are subject to …
manifold or exact output tracking for underactuated mechanical systems that are subject to …
A Two-time-scale Controller for a Differentially Cross-coupled System
P Mullhaupt, B Srinivassn… - Proceedings of the 1997 …, 1997 - ieeexplore.ieee.org
Control of underactuated mechanical systems often leads to unstable internal dynamics,
which can be handled by resorting to prediction when the system bandwidth is small. The …
which can be handled by resorting to prediction when the system bandwidth is small. The …