Viability control for a class of underactuated systems - Panagou, Dimitra; Kyriakopoulos, Kostas J. (Automatica (Oxford), 2013)
Keywords: Adaptative systems; Applied sciences; Automation; Computer science; control theory; systems; Constrained control; Constraint satisfaction problems; Constraints; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; Convergent control; Disturbance rejection; Effectiveness; Exact sciences and technology; Feedback control; Invariance; Laws; Nonholonomic control; Robot control; Robotics; Robust control; Trajectories; Underactuated robots; Viability; Robust control; Underactuated robots; Disturbance rejection; Convergent control; Robot control; Constrained control; Constraint satisfaction problems; Invariance; Nonholonomic control; State feedback; Control program; Feedback regulation; Constraint satisfaction; Control synthesis; State space; Robotics; Control constraint; Inequality constraint; Robustness; Bounded perturbation; State constraint; Multimodel control; Computer vision; Non holonomic system; State space method; Constrained optimization; Closed feedback; Underactuation; Motion control