Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics-Reference-Cited by-同舟云学术

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Published:2024 Issue: Volume:40 Page:2098-2110
ISSN:1552-3098
Container-title:IEEE Transactions on Robotics
language:
Short-container-title:IEEE Trans. Robot.

Author:

Pustina Pietro¹^ORCID,Santina Cosimo Della²^ORCID,Boyer Frédéric³,De Luca Alessandro¹^ORCID,Renda Federico⁴^ORCID

Affiliation:

1. Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy

2. Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands

3. Institute Mines Telecom Atlantique, Nantes, France

4. Khalifa University Center for Autonomous Robotics System (KUCARS) and the Department of Mechanical and Nuclear Engineering, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates

Funder

US Office of Naval Research Global

Khalifa University of Science and Technology

HORIZON EUROPE Framework Programme

PNRR MUR

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Link

http://xplorestaging.ieee.org/ielx7/8860/10365208/10449375.pdf?arnumber=10449375

Reference46 articles.

1. Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems

2. Passivity-based Control of Euler-Lagrange Systems

3. Observers are Unnecessary for Output-Feedback Control of Lagrangian Systems

4. Hierarchical Controller-Estimator for Coordination of Networked Euler–Lagrange Systems

5. Distributed tracking control for multiple Euler–Lagrange systems with communication delays and input saturation

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