IEEE - Institute of Electrical and Electronics Engineers, Inc. - Transverse linearization for mechanical systems with passive links, impulse effects, and friction forces

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Freidovich, L.B. ; Shiriaev, A.S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 6,490 - 6,495
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5399859
Regular:

We consider a class of mechanical systems with an arbitrary number of passive (non-actuated) degrees of freedom. In addition to control forces, we take into account viscous and Coulomb friction... View More

Advertisement