138 search results - page 6 / 28 » Controllability of a class of underactuated mechanical syste... |
IROS
2009
IEEE
14 years 2 months ago
2009
IEEE
Abstract— This paper deals with constant disturbances rejection in limit cycle tracking for an underactuated mechanical system. The feedback controler presented in [1] is enhance...
RSS
2007
13 years 9 months ago
2007
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
TROB
2002
13 years 7 months ago
2002
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
IROS
2007
IEEE
14 years 1 months ago
2007
IEEE
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
CDC
2008
IEEE
14 years 2 months ago
2008
IEEE
— In this paper, we study the tracking problem for Lur’e-type measure differential inclusions. The framework of measure differential inclusions allows us to describe systems wi...