Centralized Control in Networks of Underactuated Nonidentical Euler–Lagrange Systems Using a Generalised Multi-Coordinates Transformation
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DOI: 10.1109/access.2022.3178606
Abstract: Controlling the network of underactuated Euler–Lagrange (EL) systems is challenging because of their coupled inertia matrices and time-variant control input matrices. We present generalized multi-coordinates transformation that renders the network of underactuated Euler-Lagrange dynamics in… read more here.
Keywords: euler lagrange; control; multi coordinates; lagrange systems ... See more keywords