Configuration Consensus of Two Underactuated Planar Rigid Bodies

Maclaurin HUTAGALUNG; Tomohisa HAYAKAWA; Takateru URAKUBO

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Configuration Consensus of Two Underactuated Planar Rigid Bodies

机译：两个欠驱动平面刚体的配置共识

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摘要

A consensus control framework for configuration of two underactuated planar rigid bodies is developed. Specifically, we propose a series of control laws that achieve asymptotic consensus between the underactuated planar rigid bodies that possess small-time local controllability. The results are predicated on the characterizations of the approximate solution and the inversion algorithm for underactuated systems. Finally, we present a numerical example to show the utility of the proposed approach.

机译：建立了用于两个欠驱动平面刚体构型的共识控制框架。具体来说，我们提出了一系列控制律，这些控制律在拥有少量局部可控性的欠驱动平面刚体之间实现了渐近共识。结果基于欠驱动系统的近似解和反演算法的表征。最后，我们提供一个数值示例来说明所提出方法的实用性。

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《SICE Journal of Control, Measurement, and System Integration (SICE JCMSI)》 |2011年第6期|共9页
作者
Maclaurin HUTAGALUNG; Tomohisa HAYAKAWA; Takateru URAKUBO;
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原文格式 PDF
正文语种 eng
中图分类计量学;
关键词
consensus control; underactuated systems; planar rigid bodies; small-time local controllability;

机译：共识控制;致动系统;平面刚体;小局部可控性;

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1. Configuration Consensus of Two Underactuated Planar Rigid Bodies [J] . Maclaurin HUTAGALUNG, Tomohisa HAYAKAWA, Takateru URAKUBO SICE Journal of Control, Measurement, and System Integration (SICE JCMSI) . 2011,第6期

机译：两个欠驱动平面刚体的配置共识
2. Complementarity Relationships and Critical Configurations in Rigid-Body Collisions of Planar Kinematic Chains With Smooth External Contacts [J] . Hurmuzlu Yildirim Journal of Applied Mechanics: Transactions of the ASME . 2020,第12期

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3. Kinematics and dynamics of planar mechanisms reinterpreted in rigid-body's configuration space [J] . Di Gregorio Raffaele Meccanica: Journal of the Italian Association of Theoretical and Applied Mechanics . 2016,第4期

机译：在刚体的配置空间中重新解释了平面机构的运动学和动力学
4. Configuration consensus of two underactuated planar rigid bodies [C] . Hutagalung Maclaurin, Hayakawa Tomohisa, Urakubo Takateru IEEE Conference on Decision and Control . 2008

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5. Variable-Geometry Extrusion Die Synthesis and Morphometric Analysis via Planar, Shape-Changing Rigid-Body Mechanisms [D] . Li, Bingjue. 2017

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6. Absolute binding free energies between T4 lysozyme and 141 small molecules: calculations based on multiple rigid receptor configurations [O] . Bing Xie, Trung Hai Nguyen, David D. L. Minh -1

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7. Configuration Consensus of Two Underactuated Planar Rigid Bodies [O] . Maclaurin Hutagalung, Tomohisa Hayakawa, Takateru Urakubo 2015

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8. Dynamics of Coupled Planar Rigid Bodies. Part 2. Bifurcations, Periodic Solutions, and Chaos. [R] . Oh, Y., Eenath, N., Krishnaprasad, P. S., 1988

机译：耦合平面刚体的动力学。第2部分。分叉，周期解和混沌。

Configuration Consensus of Two Underactuated Planar Rigid Bodies

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