Control of the underactuated mechanical systems using natural motion
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F12%3A00201396" target="_blank" >RIV/68407700:21220/12:00201396 - isvavai.cz</a>
Result on the web
<a href="http://www.kybernetika.cz/content/2012/2/223" target="_blank" >http://www.kybernetika.cz/content/2012/2/223</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Control of the underactuated mechanical systems using natural motion
Original language description
The paper deals with the control of underactuated mechanical systems between equilibrium positions across the singular positions. The considered mechanical systems are in the gravity field. The goal is to find feasible trajectory connecting the equilibrium positions that can be the basis of the system control. Such trajectory can be stabilized around both equilibrium positions and due to the gravity forces the mechanical system overcomes the singular positions. This altogether constitutes the control between the equilibrium positions. The procedure is demonstrated on the different inverse pendulum mechanisms.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Kybernetika
ISSN
0023-5954
e-ISSN
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Volume of the periodical
48
Issue of the periodical within the volume
2
Country of publishing house
CZ - CZECH REPUBLIC
Number of pages
19
Pages from-to
223-241
UT code for WoS article
000303851300004
EID of the result in the Scopus database
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