Application of Hamiltonian Mechanics in Exponentially Stable Control of Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004455" target="_blank" >RIV/46747885:24220/17:00004455 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Application of Hamiltonian Mechanics in Exponentially Stable Control of Robots
Original language description
The paper deals with tracking control for robots-manipulators, where the dynamics is described by means of Hamiltonian mechanics. This way leads to different physical descriptive quantities used in control design. In the paper, the model-oriented Lyapunov-based control is considered. It is introduced in novel formulation by means of Hamiltonian mechanics.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
ENGINEERING MECHANICS 2017 - 23rd International Conference on Engineering Mechanics
ISBN
978-80-214-5497-2
ISSN
1805-8248
e-ISSN
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Number of pages
4
Pages from-to
1086-1089
Publisher name
ACAD SCI CZECH REPUBLIC, INST THERMOMECHANICS, DOLEJSKOVA 5, PRAGUE 8, 182 00, CZECH REPUBLIC
Place of publication
Brno, Czech Republic
Event location
Svratka, CZECH REPUBLIC
Event date
Jan 1, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000411657600261

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