Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

References

• Arai, H., Tanie, K., & Shiroma, N. (1998a). Nonholonomic control of a three-DOF planar underactuated manipulator. IEEE Transactions on Robotics and Automation, 14(5), 681–695. doi: 10.1109/70.720345
   Google Scholar
• Arai, H., Tanie, K., & Shiroma, N. (1998b). Time-scaling control of an underactuated manipulator. Journal of Robotic Systems, 15(9), 525–536. doi: 10.1002/(SICI)1097-4563(199809)15:9<525::AID-ROB4>3.0.CO;2-M
   Google Scholar
• Boscariol, P., & Richiedei, D. (2018). Robust point-to-point trajectory planning for nonlinear underactuated systems: Theory and experimental assessment. Robotics and Computer-Integrated Manufacturing, 50, 256–265. doi: 10.1016/j.rcim.2017.10.001
   Web of Science ®Google Scholar
• Chung, G. B., Eom, K. S., Yi, B.-J., Suh, I. H., Oh, S.-R., Chung, W. K., & J. O. Kim (2001). Disturbance observer-based robust control for underwater robotic systems with passive joints. Advanced Robotics, 15(5), 575–588. doi: 10.1163/156855301317033577
   Web of Science ®Google Scholar
• Colombo, L., Jiménez, F., & Diego, D. M. D. (2017). Variational integrators for underactuated mechanical control systems with symmetries. Journal of Computational Dynamics, 2(2), 193–225. doi: 10.3934/jcd.2015003
   Google Scholar
• Dong, W. J., & Djapic, V. (2016). Leader-following control of multiple nonholonomic systems over directed communication graphs. International Journal of Systems Science, 47(8), 1877–1890. doi: 10.1080/00207721.2014.955553
   Web of Science ®Google Scholar
• Eberhart, R., & Kennedy, J. (1995). A new optimizer using particle swarm theory. In Proceedings of the 6th international symposium on micro machine and human science, Nagoya, Japan (pp. 39–43). IEEE.
   Google Scholar
• Kennedy, J. (1997). The particle swarm: Social adaptation of knowledge. In Proceedings of 1997 IEEE international conference on evolutionary computation, Indianapolis, USA (pp. 303–308). IEEE.
   Google Scholar
• Lai, X. Z., She, J. H., Cao, W. H., & Yang, S. X. (2015). Stabilization of underactuated planar Acrobot based on motion-state constraints. International Journal of Non-Linear Mechanics, 77, 342–347. doi: 10.1016/j.ijnonlinmec.2015.09.006
   Web of Science ®Google Scholar
• Lai, X. Z., Wang, Y. W., Wu, M., & Cao, W. H. (2016). Stable control strategy for planar three-link underactuated mechanical system. IEEE/ASME Transactions on Mechatronics, 21(3), 1345–1356. doi: 10.1109/TMECH.2016.2519529
   Web of Science ®Google Scholar
• Lai, X. Z., Zhang, P., Wang, Y. W., & Wu, M. (2017). Position-posture control of a planar four-link underactuated manipulator based on genetic algorithm. IEEE Transactions on Industrial Electronics, 64(6), 4781–4791. doi: 10.1109/TIE.2017.2668979
   Web of Science ®Google Scholar
• LaSalle, J. P. (1967). Stability theory and the asymptotic behavior of dynamical systems. Dynamic Stability of Structures, 00, 53–63. doi: 10.1016/B978-1-4831-9821-7.50008-9
   Google Scholar
• Luca, A. D., Mattone, R., & Oriolo, R. G. (2000). Stabilization of an underactuated planar 2R manipulator. International Journal of Robust and Nonlinear Control, 10(4), 181–198. doi: 10.1002/(SICI)1099-1239(20000415)10:4<181::AID-RNC471>3.0.CO;2-X
   Web of Science ®Google Scholar
• Mahindrakar, A. D., Banavar, R. N., & Rayhanoglu, M. (2005). Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators. International Journal of Control, 78(1), 1–13. doi: 10.1080/00207170412331317422
   Web of Science ®Google Scholar
• Mahindrakar, A. D., Shodhan, R., & Banavar, R. N. (2006). Point-to-point control of a 2R planar horizontal underactuated manipulator. Mechanism and Machine Theory, 41(7), 838–844. doi: 10.1016/j.mechmachtheory.2005.10.013
   Web of Science ®Google Scholar
• Masarati, P., Morandini, M., & Fumagalli, A. (2014). Control constraint of underactuated aerospace systems. Journal of Computational and Nonlinear Dynamics, 9(2), 021014. doi: 10.1115/1.4025629
   Web of Science ®Google Scholar
• Oriolo, G., & Nakamur, Y. (1991). Control of mechanical systems with second-order nonholonomic constraints: Underactuated manipulators. In Proceedings of 30th IEEE conference on decision and control, Brighton, England (pp. 2398–2403). IEEE.
   Google Scholar
• Qi, X., & Cai, Z. J. (2018). Three-dimensional formation control based on nonlinear small gain method for multiple underactuated underwater vehicles. Ocean Engineering, 151, 105–114. doi: 10.1016/j.oceaneng.2018.01.032
   Web of Science ®Google Scholar
• Sun, N., Yang, T., Fang, Y. C., Lu, B., & Qian, Y. Z. (2018). Nonlinear motion control of underactuated 3-dimensional boom cranes with hardware experiments. IEEE Transactions on Industrial Informatics, 14(3), 887–897. doi: 10.1109/TII.2017.2754540
   Web of Science ®Google Scholar
• Suzuki, T., Koinuma, M., & Nakamura, Y. (1996). Chaos and nonlinear control of a nonholonomic free-joint manipulator. In Proceedings of 1996 IEEE international conference on robotics and automation, Minneapolis, MN, USA (pp. 2668–2675). IEEE.
   Google Scholar
• Suzuki, T., & Nakamura, Y. (1997). Control of manipulators with free-joints via the averaging method. In Proceedings of 1997 IEEE international conference on robotics and automation, Albuquerque, NM, USA (pp. 2998–3005). IEEE.
   Google Scholar
• Wang, Y. W., Lai, X. Z., Chen, L. F., Ding, H. F., & Wu, M. (2017). A quick control strategy based on hybrid intelligent optimization algorithm for planar n-link underactuated manipulators. Information Sciences, 420, 148–158. doi: 10.1016/j.ins.2017.08.052
   Web of Science ®Google Scholar
• Xin, X., & Yamasaki, T. (2012). Energy-based swing-up control for a remotely driven Acrobot: Theoretical and experimental results. IEEE Transactions on Control Systems Technology, 20(4), 1048–1056. doi: 10.1109/TCST.2011.2159220
   Web of Science ®Google Scholar
• Xiong, P. Y., Lai, X. Z., & Wu, M. (2015). Position control for planar four-link underactuated mechanical system based on model degeneration. Control and Decision, 7, 1277 1283 1277–1283. (In Chinese).
   Google Scholar
• Xiong, P. Y., Lai, X. Z., & Wu, M. (2018). A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach. International Journal of Control, 91(7), 1630–1639. doi: 10.1080/00207179.2017.1324639
   Web of Science ®Google Scholar
• Xu, W. L., & Ma, B. L. (2001). Stabilization of second-order nonholonomic systems in canonical chained form. Robotics and Autonomous Systems, 34(4), 223–233. doi: 10.1016/S0921-8890(00)00123-8
   Web of Science ®Google Scholar
• Zhang, P., Lai, X. Z., Wang, Y. W., & Wu, M. (2017). Effective position-posture control strategy based on switching control for planar three-link underactuated mechanical system. International Journal of Systems Science, 48(10), 2202–2211. doi: 10.1080/00207721.2017.1305134
   Web of Science ®Google Scholar
• Zhang, W. J., & Lin, Y. (2010). On the principle of design of resilient systems – Application to enterprise information systems. Enterprise Information Systems, 4(2), 99–110. doi: 10.1080/17517571003763380
   Web of Science ®Google Scholar
• Zhang, A. C., She, J. H., Lai, X. Z., & Wu, M. (2013). Motion planning and tracking control for an Acrobot based on a rewinding approach. Automatica, 49(1), 278–284. doi: 10.1016/j.automatica.2012.10.007
   Web of Science ®Google Scholar
• Zhang, T., Zhang, W. J., & Gupta, M. M. (2018). An underactuated self-reconfigurable robot and the reconfiguration evolution. Mechanism and Machine Theory, 124, 248–258. doi: 10.1016/j.mechmachtheory.2018.03.004
   Web of Science ®Google Scholar