- Tytuł:
- Tracking control of an underactuated rigid body with a coupling input force
- Autorzy:
- Korczak, S.
- Powiązania:
- https://bibliotekanauki.pl/articles/229217.pdf
- Data publikacji:
- 2014
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
underactuated system
tracking
coupling forces
computed torque control - Opis:
- This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.
- Źródło:
-
Archives of Control Sciences; 2014, 24, 3; 321-332
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł