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Vibrational control of underactuated mechanical systems control design through averaging analysis

โœ Scribed by Hong, Keum -Shik ;Lee, Kang -Ryeol ;Lee, Kyo -Il

Publisher
Springer-Verlag
Year
1999
Tongue
Korean
Weight
837 KB
Volume
13
Category
Article
ISSN
1226-4865

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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