Inverse dynamics of underactuated flexible mechanical systems

Dynamics and control of a class of underactuated mechanical systems

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. Controllability and stabilizability results are...

Underactuated Mechanical Systems

In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, exible robots, walking, brachiating, and gymnastic robots. The Lagrangian dynamics of these systems may contain feedforward nonlinearities, non-minimum phase zero ...

Control of underactuated mechanical systems

In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...

Control of Underactuated Mechanical Systems

In this report, different control techniques for underactuated systems are considered. Underactuated systems are systems that have more degrees of freedom to be controlled than independent control inputs. Several control-techniques are considered for the point-to-point control of underactuated mechanical systems. After that, a control technique is considered for tracking control of underactuate...

Partial feedback linearization of underactuated mechanical systems