Composite adaptive control of robot manipulators
Automatica (Journal of IFAC)
Nonlinear dynamical control systems
Nonlinear dynamical control systems
Spin-axis stabilization of symmetric spacecraft with two control torques
Systems & Control Letters
Nonholonomic Control Systems on Riemannian Manifolds
SIAM Journal on Control and Optimization
Configuration Controllability of Simple Mechanical Control Systems
SIAM Journal on Control and Optimization
Stability of a bottom-heavy underwater vehicle
Automatica (Journal of IFAC)
Configuration Flatness of Lagrangian Systems Underactuated by One Control
SIAM Journal on Control and Optimization
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Stabilization of a 3D axially symmetric pendulum
Automatica (Journal of IFAC)
Passive-set-position-modulation framework for interactive robotic systems
IEEE Transactions on Robotics
Brief paper: The spring paradigm in tracking control of simple mechanical systems
Automatica (Journal of IFAC)
Brief paper: Vision-based control for rigid body stabilization
Automatica (Journal of IFAC)
Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
Automatica (Journal of IFAC)
Abstractions of Hamiltonian control systems
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
We present a general framework for the control of Lagrangian systems with as many inputs as degrees of freedom. Relying on the geometry of mechanical systems on manifolds, we propose a design algorithm for the tracking problem. The notions of error function and transport map lead to a proper definition of configuration and velocity error. These are the crucial ingredients in designing a proportional derivative feedback and feedforward controller. The proposed approach includes as special cases a variety of results on control of manipulators, pointing devices and autonomous vehicles. Our design provides particular insight into both aerospace and underwater applications where the configuration manifold is a Lie group.