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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.
  • 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. (en)
Title
  • Control of the underactuated mechanical systems using natural motion
  • Control of the underactuated mechanical systems using natural motion (en)
skos:prefLabel
  • Control of the underactuated mechanical systems using natural motion
  • Control of the underactuated mechanical systems using natural motion (en)
skos:notation
  • RIV/68407700:21220/12:00201396!RIV13-MSM-21220___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM6840770003)
http://linked.open...iv/cisloPeriodika
  • 2
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 128700
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21220/12:00201396
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • underactuated systems; nonlinear control; mechanical systems (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [57B2921F1A82]
http://linked.open...i/riv/nazevZdroje
  • Kybernetika
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 48
http://linked.open...iv/tvurceVysledku
  • Valášek, Michael
  • Neusser, Zdeněk
http://linked.open...ain/vavai/riv/wos
  • 000303851300004
http://linked.open...n/vavai/riv/zamer
issn
  • 0023-5954
number of pages
http://localhost/t...ganizacniJednotka
  • 21220
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