Dynamics and Control of a Class of Underactuated Mechanical SystemsIEEE Transactions on Automatic Control (1999)
"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.
- mechanical systems,
- nonlinear control,
Publication DateSeptember, 1999
Citation InformationMahmut 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/