Name
Abstract | ||
|---|---|---|
In this letter, we consider the problem of generating periodic solutions for fully actuated robots with unknown disturbances, which can be modeled using a regressor matrix. We extend our previous work on limit cycle control based on energy function regulation for the case when disturbance torques are acting on the system, e.g., torques due to friction. Since the controller is designed in two indep... |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/LRA.2015.2507784 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Friction,Limit-cycles,Robots,Aerospace electronics,Mathematical model,Jacobian matrices,Orbits | Lyapunov function,Control theory,Torque,Control theory,Matrix (mathematics),Limit cycle,Control engineering,Engineering,Periodic graph (geometry),Dynamical system,Humanoid robot | Journal |
Volume | Issue | ISSN |
1 | 1 | 2377-3766 |
Citations | PageRank | References |
3 | 0.42 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gianluca Garofalo | 1 | 44 | 7.11 |
| Christian Ott | 2 | 1527 | 128.37 |