138 search results - page 1 / 28 » Controllability of a class of underactuated mechanical syste... |
69
Voted
AUTOMATICA
2002
14 years 9 months ago
2002
In this paper we develop results based on geometric mechanics to study the controllability of a class of controlled under-actuated left invariant mechanical systems on Lie groups....
76
Voted
CDC
2008
IEEE
14 years 11 months ago
2008
IEEE
We identify a class of mechanical systems for which a globally exponentially stable reduced order observer can be designed. The class is characterized by (the solvability of) a set...
ICRA
1995
IEEE
15 years 1 months ago
1995
IEEE
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-w...
78
Voted
SIAMCO
2008
14 years 9 months ago
2008
In this paper we address stabilization of a network of underactuated mechanical systems with unstable dynamics. The coordinating control law stabilizes the unstable dynamics with ...
77
Voted
ICRA
2002
IEEE
15 years 2 months ago
2002
IEEE
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangi...