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N.H. McClamroch
Researcher at University of Michigan
Publications - 118
Citations - 6616
N.H. McClamroch is an academic researcher from University of Michigan. The author has contributed to research in topics: Nonlinear system & Control system. The author has an hindex of 30, co-authored 118 publications receiving 6317 citations. Previous affiliations of N.H. McClamroch include Worcester Polytechnic Institute & University of Texas at Austin.
Papers
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Journal ArticleDOI
Developments in nonholonomic control problems
Ilya Kolmanovsky,N.H. McClamroch +1 more
TL;DR: Nonholonomic control systems as discussed by the authors provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole.
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Control and stabilization of nonholonomic dynamic systems
TL;DR: In this article, a class of inherently nonlinear control problems arising directly from physical assumptions about constraints on the motion of a mechanical system is identified and a general procedure for constructing a piecewise analytic state feedback which achieves the desired result is suggested.
Journal ArticleDOI
Feedback stabilization and tracking of constrained robots
N.H. McClamroch,Danwei Wang +1 more
TL;DR: In this paper, the effects of constraint force required to maintain satisfaction of the constraints are considered, and conditions for stabilization and tracking using feedback are developed using mathematical models for constrained robot dynamics.
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Rigid-Body Attitude Control
TL;DR: In this paper, orthogonal matrices are used to represent attitude in rigid-body rotational motion and to characterize attitude control systems for arbitrary attitude maneuvers without using attitude parameterizations.
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Dynamics and control of a class of underactuated mechanical systems
TL;DR: A theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom, is presented and controlability and stabilizability results are derived.