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A Review on the Control of Second Order Underactuated Mechanical Systems [PDF]
Complexity, 2018 This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the ...
Soukaina Krafes +2 more
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Dynamics and control of a class of underactuated mechanical systems [PDF]
IEEE Transactions on Automatic Control, 1999 Summary: 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 ...
Ilya Kolmanovsky +2 more
exaly +4 more sources
A survey of underactuated mechanical systems [PDF]
IET Control Theory and Applications, 2013 An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications.
Hongnian Yu
exaly +3 more sources
Normal forms for underactuated mechanical systems with symmetry [PDF]
IEEE Transactions on Automatic Control, 2002 We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided
R Olfati-Saber
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Collocated Adaptive Control of Underactuated Mechanical Systems [PDF]
IEEE Transactions on Robotics, 2015 Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and encompasses the well known adaptive control result for fully actuated mechanical systems to the underactuated case.
Daniele Pucci, Francesco Nori
exaly +3 more sources
A Survey of Planar Underactuated Mechanical System
MachinesPlanar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM ...
Zixin Huang +4 more
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One-Degree-of-Freedom Mechanical Metamaterials with Arbitrary Prescribability and Rapid Reprogrammability of Force–Displacement Curves [PDF]
ResearchMechanical metamaterials, by introducing porous structures into the materials, can achieve complex nonlinear responses through the large deformation of structures, which support a new generation of impact energy absorption and vibration damping systems ...
Hui Li +5 more
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Motion tracking of a rigid-flexible link robotic system in an underactuated control mode [PDF]
Bulletin of the Polish Academy of Sciences: Technical Sciences, 2023 The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs.
Elżbieta Jarzębowska +2 more
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An intelligent controller for underactuated mechanical systems
CoRR, 2022 References added. This is a slightly expanded version of the work originally presented at DINAME 2017 - 17th International Symposium on Dynamic Problems of Mechanics, 2017, S\~ao Sebasti\~ao ...
Josiane Maria de Macedo Fernandes +3 more
openaire +2 more sources
Modeling and simulation of an underactuated system [PDF]
MATEC Web of Conferences, 2019 One of the most active research areas in mechatronic systems is the control of mechanical systems controlled by electronic systems using computer programs. These programs execute algorithms called control laws.
Nader K., Sarsri D.
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