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IEEE/ASME Transactions on Mechatronics, ISSN 1083-4435, 06/2016, Volume 21, Issue 3, pp. 1345 - 1356
A stable-control strategy for a planar three-link passive-active-active underactuated mechanical system not subject to gravity constraints has been devised.... 
Transmission line matrix methods | Mechatronics | PSO Algorithm | Null space | state constraint relationship | Angular velocity | Planar underactuated mechanical system | Mechanical systems | IEEE transactions | Gravity | Lyapunov function | Control systems
Journal Article
IEEE Transactions on Industrial Electronics, ISSN 0278-0046, 06/2017, Volume 64, Issue 6, pp. 4781 - 4791
Journal Article
International Journal of Control, ISSN 0020-7179, 07/2018, Volume 91, Issue 7, pp. 1630 - 1639
A stable control strategy is proposed via energy attenuation to realise the position control for a second-order nonholonomic planar four-link... 
energy attenuation | simulated annealing algorithm | stable control | nonholonomic system | Underactuated manipulator | STABILIZATION | MANIPULATORS | ACROBOT | AUTOMATION & CONTROL SYSTEMS | Control systems | Attenuation | Model reduction | Computer simulation | Simulated annealing
Journal Article
International Journal of Systems Science, ISSN 0020-7721, 08/2019, Volume 50, Issue 11, pp. 2126 - 2141
Journal Article
International Journal of Systems Science, ISSN 0020-7721, 07/2017, Volume 48, Issue 10, pp. 2202 - 2211
Journal Article
2018 37th Chinese Control Conference (CCC), ISSN 1934-1768, 07/2018, Volume 2018-, pp. 3716 - 3719
A piecewise control strategy is proposed to realize the position-posture control of a planar four-link Active-Passive-Active-Active (APAA) underactuated... 
Couplings | position-posture control | Friction | Force | underactuated manipulator | Aerospace electronics | Manipulators | planar four-link | Servomotors | fuzzy-PI control | Position-posture control | Fuzzy-PI control | Planar four-link | Underactuated manipulator
Conference Proceeding
2018 37th Chinese Control Conference (CCC), ISSN 1934-1768, 07/2018, Volume 2018-, pp. 858 - 861
This paper presents a position control strategy based on the iterative method for a planar Pendubot. The control objective of the system is to move the... 
Planar Pendubot | Position control | Switches | Manipulators | Iterative method | Feedback linearization | Numerical models | Mathematical model | Iterative methods | Nilpotent approximation
Conference Proceeding
International Journal of Robust and Nonlinear Control, ISSN 1049-8923, 01/2015, Volume 25, Issue 2, pp. 207 - 221
SUMMARYAn underactuated three‐link gymnast robot (UTGR) is a simple model of a gymnast on a high bar. The control objective of a UTGR is to swing it up from a... 
virtual coupling | underactuated gymnast robot | singularity | swing up | linear quadratic regulator (LQR) | MATHEMATICS, APPLIED | MECHANICAL SYSTEMS | AUTOMATION & CONTROL SYSTEMS | ENGINEERING, ELECTRICAL & ELECTRONIC | Robots | Law | Balancing | Singularities | Nonlinearity | Joining | Mathematical models | Subspaces
Journal Article
Neurocomputing, ISSN 0925-2312, 03/2019, Volume 334, pp. 197 - 205
Journal Article
Information Sciences, ISSN 0020-0255, 12/2017, Volume 420, pp. 148 - 158
This paper presents a quick two-stage position control strategy based on a hybrid intelligent optimization algorithm for a planar n-link underactuated... 
Planar underactuated manipulator | Genetic algorithm | Angle constraint | Particle swarm optimization algorithm | ROBOT | STABILIZATION | PENDUBOT SYSTEM | COMPUTER SCIENCE, INFORMATION SYSTEMS | ACROBOT | Mathematical optimization | Algorithms | Measuring instruments | Mechanical engineering
Journal Article
Information Sciences, ISSN 0020-0255, 09/2018, Volume 460-461, pp. 264 - 278
In this paper, we develop a quick and effective position control strategy based on the differential evolution (DE) algorithm for a planar three-link... 
Continuous control method | First-order nonholonomic system | Angular constraint | Position control | Planar underactuated system | STABILIZATION | COMPUTER SCIENCE, INFORMATION SYSTEMS | Mathematical optimization | Algorithms | Measuring instruments
Journal Article
Applied Mathematics and Computation, ISSN 0096-3003, 02/2015, Volume 253, pp. 193 - 204
This paper concerns the stabilization of an underactuated two-link gymnast robot called acrobot. A trajectory tracking control strategy is presented. First, we... 
Gymnast robot | Trajectory tracking | Underactuated mechanical system | Equivalent input disturbance (EID) | FUZZY-CONTROL | MATHEMATICS, APPLIED | MECHANICAL SYSTEMS | SWING-UP CONTROL | Robots
Journal Article
by Lai, XZ and Chen, HQ and Wang, YW and Yuan, Y and Wu, M
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, ISSN 0826-8185, 2019, Volume 34, Issue 2, pp. 194 - 202
A fuzzy control strategy is proposed for a planar four-link active-passive-active-active (APAA) real underactuated manipulator (RUM) to realize the control... 
fuzzy control | DESIGN | ROBOTICS | Planar real underactuated manipulator | AUTOMATION & CONTROL SYSTEMS | trajectory tracking | posture control | Fuzzy control | Robot arms | Tracking | Simulation | Trajectory control | Strategy | Manipulators | Tracking control | Posture
Journal Article
Mechanism and Machine Theory, ISSN 0094-114X, 10/2019, Volume 140, pp. 258 - 273
•Position-posture control of planar three-link underactuated manipulator is achieved.•A two-stage control method is developed, faster than the existing control... 
Position-posture control | Planar underactuated manipulator | Intelligent optimization | Nonholonomic constraint | Lyapunov function | MANIPULATOR | STABILIZATION | TO-POINT CONTROL | ENGINEERING, MECHANICAL | Usage | Algorithms | Analysis | Control systems | Mechanical engineering | Mathematical optimization | Methods | Aerospace engineering
Journal Article
ISA Transactions, ISSN 0019-0578, 04/2019, Volume 87, pp. 46 - 54
This paper presents a position control strategy based on the differential evolution (DE) algorithm for a planar four-link underactuated manipulator (PFUM) with... 
Planar underactuated manipulator | Nonholonomic system | Model reduction | Differential evolution algorithm | Position control | INSTRUMENTS & INSTRUMENTATION | ENGINEERING, MULTIDISCIPLINARY | AUTOMATION & CONTROL SYSTEMS | Models | Algorithms | Analysis | Measuring instruments
Journal Article
Automatica, ISSN 0005-1098, 01/2013, Volume 49, Issue 1, pp. 278 - 284
This paper concerns motion planning and tracking control for an acrobot. We first introduce an artificial friction torque in order to construct a downward... 
Motion planning | Artificial friction | Rewinding approach | Acrobot | Time-varying system | Pole assignment | WALKING | DESIGN | MECHANICAL SYSTEMS | AUTOMATION & CONTROL SYSTEMS | ENGINEERING, ELECTRICAL & ELECTRONIC
Journal Article
Mechanism and Machine Theory, ISSN 0094-114X, 07/2017, Volume 113, pp. 193 - 207
This paper presents an automatic method to synthesize mechanisms, namely inversions, from planar non-fractionated simple joint kinematic chains. First, the... 
Isomorphism identification | Inversion | Structure synthesis | Contrastive analysis | Link group | ISOMORPHISM | NUMBER | KINEMATIC CHAINS | DESIGN CONSTRAINTS | SET | ENGINEERING, MECHANICAL | STRUCTURAL SYNTHESIS | PARALLEL MECHANISMS | SUBJECT | GENERATION | INVERSIONS | Mechanical engineering | Analysis | Algorithms | Robots
Journal Article
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