A Control Design Method for Underactuated Mechanical Systems Using High-Frequency Inputs

This paper presents a control design technique which enables approximate reference trajectory tracking for a class of underactuated mechanical systems. The control law comprises two terms. The first involves feedback of the trajectory tracking error in the actuated coordinates. Building on the conce...

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Veröffentlicht in:	Journal of dynamic systems, measurement, and control measurement, and control, 2015-07, Vol.137 (7)
Hauptverfasser:	Tahmasian, Sevak, Woolsey, Craig A
Format:	Artikel
Sprache:	eng
Schlagworte:	Construction Control systems Design engineering Dynamical systems Dynamics Mechanical systems Tracking errors Trajectories
Online-Zugang:	Volltext
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