Comprehensive unified control strategy for underactuated two-link manipulators
This paper presents a unified treatment of the motion control of underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak-control Lyapunov f...
Ausführliche Beschreibung
Bibliographische Detailangaben
| Veröffentlicht in: | IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society. - 1996. - 39(2009), 2 vom: 15. Apr., Seite 389-98
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| 1. Verfasser: |
Lai, Xu-Zhi
(VerfasserIn) |
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| Weitere Verfasser: |
She, Jin-Hua,
Yang, Simon X,
Wu, Min |
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| Format: | Online-Aufsatz
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| Sprache: | English |
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| Veröffentlicht: |
2009
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society
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| Schlagworte: | Journal Article
Research Support, Non-U.S. Gov't |
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