4.7 Article

Steering a Swarm of Large-Scale Underactuated Mechanical Systems Using a Generalized Coordinates Transformation

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Computer Science, Information Systems

Centralized Control in Networks of Underactuated Nonidentical Euler-Lagrange Systems Using a Generalised Multicoordinates Transformation

Babak Salamat et al.

Summary: The article presents a method for controlling the network of underactuated Euler-Lagrange systems, achieving energy efficiency through multi-coordinates transformation and online optimally centralized control, resulting in simple yet powerful state-feedback solutions.

IEEE ACCESS (2022)

Article Robotics

A Swash Mass Pendulum with Passivity-Based Control

Babak Salamat et al.

Summary: This paper presents a mechanical system called Swash Mass Pendulum (SMP) and develops a passivity-based control approach for stabilizing the pendulum at a desired rest orientation. The control law involves partial feedback linearization under input coupling and a proportional plus integral (PI) controller acting on two new passive outputs. The effectiveness of the control design is demonstrated through simulations and experimental results.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Article Engineering, Multidisciplinary

Mean-field models in swarm robotics: a survey

Karthik Elamvazhuthi et al.

BIOINSPIRATION & BIOMIMETICS (2020)

Article Automation & Control Systems

Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs

Shiva Shahrokhi et al.

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2019)

Article Robotics

Steering a Swarm of Particles Using Global Inputs and Swarm Statistics

Shiva Shahrokhi et al.

IEEE TRANSACTIONS ON ROBOTICS (2018)

Article Robotics

Consensus in Networks of Nonidentical Euler-Lagrange Systems Using P plus d Controllers

Emmanuel Nuno et al.

IEEE TRANSACTIONS ON ROBOTICS (2013)

Article Robotics

Multi-level spatial modeling for stochastic distributed robotic systems

Amanda Prorok et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2011)

Article Robotics

Temporal logic planning and control of robotic swarms by hierarchical abstractions

Marius Kloetzer et al.

IEEE TRANSACTIONS ON ROBOTICS (2007)

Review Engineering, Electrical & Electronic

Consensus and cooperation in networked multi-agent systems

Reza Olfati-Saber et al.

PROCEEDINGS OF THE IEEE (2007)

Article Automation & Control Systems

Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

JA Acosta et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2005)

Article Automation & Control Systems

Stabilization of a class of undercactuated mechanical systems via interconnection and damping assignment

R Ortega et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2002)