We study a control problem for a special class of underactuated mechanical systems, namely for mechanical systems with several directly actuated degrees of freedom and a single unactuated degree of freedom that must be controlled through the system coupling. Speci"c assumptions are introduced that d
Control of a class of underactuated mechanical systems
โ Scribed by Tatsuo Narikiyo; Junichiro Sahashi; Kazutomo Misao
- Publisher
- Elsevier
- Year
- 2008
- Tongue
- English
- Weight
- 535 KB
- Volume
- 2
- Category
- Article
- ISSN
- 1751-570X
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