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Hybrid control for a class of underactuated mechanical systems

โœ Scribed by Fierro, R.; Lewis, F.L.; Lowe, A.


Book ID
117874042
Publisher
IEEE
Year
1999
Tongue
English
Weight
220 KB
Volume
29
Category
Article
ISSN
1083-4427

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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