Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking
Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem...
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| Format: | Others |
| Language: | English |
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Umeå universitet, Institutionen för tillämpad fysik och elektronik
2008
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1874 http://nbn-resolving.de/urn:isbn:978-91-7264-665-0 |