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Article
Dynamics and Control of a Class of Underactuated Mechanical Systems
IEEE Transactions on Automatic Control (1999)
  • Mahmut Reyhanoglu, Embry-Riddle Aeronautical University - Daytona Beach
  • Arjan van der Schaft
  • N. Harris McClamroch
  • Ilya Kolmanovsky
Abstract
"This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified."--From the publisher's website.
Keywords
  • Dynamics,
  • control,
  • mechanical systems,
  • nonlinear control,
  • stability
Publication Date
September, 1999
DOI
https://doi.org/10.1109/9.788533
Publisher Statement
Article published by IEEE and available to subscribers in IEEE's Xplore Digital Library.
Citation Information
Mahmut Reyhanoglu, Arjan van der Schaft, N. Harris McClamroch and Ilya Kolmanovsky. "Dynamics and Control of a Class of Underactuated Mechanical Systems" IEEE Transactions on Automatic Control Vol. 44 Iss. 9 (1999) p. 1663 - 1671
Available at: http://works.bepress.com/mahmut_reyhanoglu/4/