138 search results - page 1 / 28 » Controllability of a class of underactuated mechanical syste... |
AUTOMATICA
2002
13 years 6 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....
CDC
2008
IEEE
13 years 9 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
13 years 10 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...
SIAMCO
2008
13 years 6 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 ...
ICRA
2002
IEEE
13 years 11 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...