Invariant manifold

An integral manifold approach to the feedback control of flexible joint robots

Mark W. Spong, K. Khorasani, P.V. Kokotović

Citations: 450 • 1987

Geometric Analysis of the Formation Problem for Autonomous Robots

Florian Dörfler, Bruce A. Francis

Citations: 211 • 2010

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

Benjamin Morris, Jessy W. Grizzle

Citations: 169 • 2009

Invariant manifolds and their application to robot manipulators with flexible joints

K. Khorasani, Mark W. Spong

Citations: 92 • 2005

On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems

Guozheng Lu, Wei Xu, Fu Zhang

Citations: 46 • 2022

Two-time Scale Sliding Control of Manipulators with Flexible Joints

J.-J.E. Slotine, Seok Jin Hong

Citations: 40 • 1986

Feedback Particle Filter on Riemannian Manifolds and Matrix Lie Groups

Chi Zhang, Amirhossein Taghvaei, Prashant G. Mehta

Citations: 36 • 2017

Control of manipulators with free-joints via the averaging method

Takahiro Suzuki, Yoshihiko Nakamura

Citations: 34 • 2002

Invariant Manifold Approach for the Stabilization of Nonholonomic Chained Systems: Application to a Mobile Robot

Abdelhamid Tayebi, Mohamed Tadjine, A. Rachid

Citations: 32 • 2001

A Slow Manifold Approach to Feedback Control of Nonlinear Flexible Systems

Mark W. Spong, K. Khorasani, P.V. Kokotović

Citations: 27 • 1985

Invariant manifold approach for the stabilization of nonholonomic systems in chained form: application to a car-like mobile robot

Abdelhamid Tayebi, Mohamed Tadjine, A. Rachid

Citations: 25 • 2002

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

Rodolfo Reyes‐Báez, Arjan van der Schaft, Bayu Jayawardhana

Citations: 23 • 2017

Review article

Mark W. Spong

Citations: 18 • 1989

Stability analysis and robust composite controller synthesis for flexible joint robots

Hamid D. Taghirad, Mohammad A. Khosravi

Citations: 17 • 2003

Stability analysis and robust composite controller synthesis for flexible joint robots

Hamid D. Taghirad, Mohammad A. Khosravi

Citations: 15 • 2006

Feedback Control of a Planar Space Robot Using a Moving Manifold

Shinji Hokamoto, Toshirou Funasako

Citations: 14 • 2007

Smooth stabilisation of nonholonomic robots subject to disturbances

Alejandro Donaire, José Guadalupe Romero, Tristán Pérez, Roméo Ortega

Citations: 12 • 2015

Path following control of planar snake robots using virtual holonomic constraints

Ehsan Rezapour, Kristin Y. Pettersen, Pål Liljebäck, Jan Tommy Gravdahl

Citations: 12 • 2013

An Adaptive Invariant Manifold-Based Switching Control for a Planar Two-Link Space Robot

Hirohisa Kojima, Shinji Kasahara

Citations: 9 • 2011

A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method

Takahiro Yamamoto, Keigo Watanabe

Citations: 8 • 2010