Stable Control Strategy for Planar Multi-link Underactuated Mechanical System with Non-zero Initial Velocity

Aiming at the stability control problem of planar multi-link underactuated manipulator system with non-zero initial velocity of last passive joint, a stable control strategy based on model reduction and open-loop iterative control is presented. According to the structural characteristic of this plan...

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Principais autores:	HUANG Zixin, HOU Mengyu, QIN Xiangyu, WANG Lejun
Formato:	Artigo
Idioma:	Chinês
Publicado em:	Harbin University of Science and Technology Publications 2024-10-01
coleção:	Journal of Harbin University of Science and Technology
Assuntos:	nonlinear system planar underactuated manipulator nilpotent approximation model reduction open-loop iterative stable control
Acesso em linha:	https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2372
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