Title

Control of a planar robot in the flight phase using transverse function approach

Journal title

Bulletin of the Polish Academy of Sciences Technical Sciences

Yearbook

2015

Volume

63

Issue

No 3

Authors

Pazderski, D. ; Kozłowski, K.

Divisions of PAS

Nauki Techniczne

Coverage

759-770

Date

2015[2015.01.01 AD - 2015.12.31 AD]

Identifier

DOI: 10.1515/bpasts-2015-0087 ; ISSN 2300-1917

Source

Bulletin of the Polish Academy of Sciences: Technical Sciences; 2015; 63; No 3; 759-770

References

Morin (2008), Transverse function control of a class of non - invariant driftless systems application to vehicles with trailers th on Decision and Control ( CDC, Proc IEEE Conf, 47, 4312. ; Pazderski (2015), Motion control of vehicles with trailers using transverse function approach, Int J Intell Syst, 77, 457. ; Xin (2004), The posture control of a two - link free flying acrobot with initial angular momentum Control, IEEE Trans Autom, 49, 1201, doi.org/10.1109/TAC.2004.831093 ; Grizzle (2005), Nonlinear control of mechanical systems with an unactuated cyclic variable Control, IEEE Trans Autom, 50, 559, doi.org/10.1109/TAC.2005.847057 ; Jakubczyk (1980), On linearization of control systems, Bull Pol Math, 28, 517. ; Dulęba (2011), Impact of control representations on efficiency of local nonholonomic motion planning, Bull Pol Tech, 59, 213. ; Lizárraga (1999), Non - robustness of continuous homogeneous stabilizers for affine control systems on Decision and Control ( CDC, Proc Conf, 855. ; Morin (2008), Stabilization of trajectories for systems on Lie groups Application to the rolling sphere th IFAC World Congress, Proc, 17, 508. ; Libal (2014), Noise sensitivity of selected kinematic path following controllers for a unicycle, Bull Pol Tech, 62, 3. ; Morin (2009), Control of nonholonomic mobile robots based on the transverse function approach, IEEE Trans Robot, 25, 1058, doi.org/10.1109/TRO.2009.2014123 ; Jiang (2000), Robust exponential regulation of nonholonomic systems with uncertainties, Automatica, 36, 189, doi.org/10.1016/S0005-1098(99)00115-6 ; Morin (2003), Practical stabilization of driftless systems on Lie groups : the transverse function approach Control, IEEE Trans Autom, 48, 1496, doi.org/10.1109/TAC.2003.816963 ; Hermes (1991), Nilpotent and high - order approximations of vector field systems, SIAM Rev, 33, 238, doi.org/10.1137/1033050 ; Carlesi (2010), Nonlinear model predictive running control of kanagaroo robot : a one - leg planar underactuated hopping robot Intelligent Robots and Systems ( IROS, Proc IEEE RSJ Int Conf, 3634. ; Tchoń (1991), Differential topology of the inverse kinematic problem for redundant robot manipulators, Int J Robot Res, 10, 492, doi.org/10.1177/027836499101000505 ; Raibert (1984), Experiments in balance with a one - legged hopping machine, Int J Robot Res, 3, 75, doi.org/10.1177/027836498400300207 ; Morin (2001), Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions th Decision and Control ( CDC, Proc IEEE Conf, 40, 1761. ; Morin (2001), A characterization of the Lie Algebra Rank Condition by transverse periodic functions, SIAM J Control Optim, 40, 1227, doi.org/10.1137/S0363012900366054 ; Rehman (1997), Geometric approach to feedback stabilization of a hopping robot in the flight phase ICAR, Proc Int Conf Advanced Robotics, 551. ; Pazderski (2012), A comparison study of discontinuous control algorithms for three - link nonholonomic manipulator Lecture Notes in Control and Inform Robot Motion Control : Recent Developments, Sci, 35. ; Rybus (2013), Experimental demonstration of singularity avoidance with trajectories based on the Bézier curves for free - floating manipulator Lecture Notes in Control and Inform Robot Motion Control : Recent Developments, Sci, 335. ; Vendittelli (2004), Nonhomogeneous nilpotent approximations for nonholonomic systems with singularities Control, IEEE Trans Automat, 49, 261, doi.org/10.1109/TAC.2003.822872 ; Pazderski (2012), Control of a unicycle - like robot with trailers using transverse function approach, Bull Pol Tech, 60, 537.