Standard

Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design? / Mamedov, Sh.; Khusainov, R.; Gusev, S. ; Klimchik, A.; Maloletov, A.; Shiriaev, A.

In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 9262-9269.

Research output: Contribution to journal › Article › peer-review

Harvard

Mamedov, S, Khusainov, R, Gusev, S, Klimchik, A, Maloletov, A & Shiriaev, A 2020, 'Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design?', IFAC-PapersOnLine, vol. 53, no. 2, pp. 9262-9269.

APA

Mamedov, S., Khusainov, R., Gusev, S., Klimchik, A., Maloletov, A., & Shiriaev, A. (2020). Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design? IFAC-PapersOnLine, 53(2), 9262-9269.

Vancouver

Mamedov S, Khusainov R, Gusev S, Klimchik A, Maloletov A, Shiriaev A. Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design? IFAC-PapersOnLine. 2020;53(2):9262-9269.

Author

Mamedov, Sh. ; Khusainov, R. ; Gusev, S. ; Klimchik, A. ; Maloletov, A. ; Shiriaev, A. / Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design?. In: IFAC-PapersOnLine. 2020 ; Vol. 53, No. 2. pp. 9262-9269.

BibTeX

@article{978e422140ae4a91899b9d1fe9e1e205,
title = "Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design?",
abstract = "The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning methods developed for systems of underactuation degree one can be generalized for novel demanding settings, while corresponding arguments and concepts for controller design should be substantially reconsidered and updated. Rigorous theoretical results are well supported by numerical studies.",
keywords = "Underactuared systems, Zhukovsky stability, nested representation of a motion",
author = "Sh. Mamedov and R. Khusainov and S. Gusev and A. Klimchik and A. Maloletov and A. Shiriaev",
year = "2020",
language = "English",
volume = "53",
pages = "9262--9269",
journal = "IFAC-PapersOnLine",
issn = "2405-8971",
publisher = "Elsevier",
number = "2",
note = "21th IFAC World Congress ; Conference date: 12-07-2020 Through 17-07-2020",

}

RIS

TY - JOUR

T1 - Underactuated Mechanical Systems: Whether Orbital Stabilization Is an Adequate Assignment for a Controller Design?

AU - Mamedov, Sh.

AU - Khusainov, R.

AU - Gusev, S.

AU - Klimchik, A.

AU - Maloletov, A.

AU - Shiriaev, A.

PY - 2020

Y1 - 2020

N2 - The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning methods developed for systems of underactuation degree one can be generalized for novel demanding settings, while corresponding arguments and concepts for controller design should be substantially reconsidered and updated. Rigorous theoretical results are well supported by numerical studies.

AB - The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning methods developed for systems of underactuation degree one can be generalized for novel demanding settings, while corresponding arguments and concepts for controller design should be substantially reconsidered and updated. Rigorous theoretical results are well supported by numerical studies.

KW - Underactuared systems

KW - Zhukovsky stability

KW - nested representation of a motion

UR - https://www.sciencedirect.com/science/article/pii/S2405896320330494#!

M3 - Article

VL - 53

SP - 9262

EP - 9269

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 2

T2 - 21th IFAC World Congress

Y2 - 12 July 2020 through 17 July 2020

ER -

ID: 71731370