Due to limited workspace and safety requirements for practical underactuated mechanical
systems, it is necessary to restrict all to-be-controlled variables and their velocities within …

Underactuated systems are widely applied in industry, construction, manufacturing, etc., and
the complex working environment puts forward higher demands for safety and transient …

A limited number of coupling-based works have been reported for stabilizing the overhead
crane subject to both parametric uncertainty and input saturation. Particularly, integral action …

As typical mechanical transportation equipment, cooperative dual ship-mounted cranes are
widely used to transport large goods or containers in the marine environment. However, the …

Underactuated systems are widely used in practice. Due to actuator saturation and transient
performance requirements, it is necessary to keep the control inputs and system states …

This paper develops a novel Lyapunov function candidate for control of the three-
dimensional (3-D) overhead crane, which yields a nonlinear controller to inject active …

Cranes are widely employed for transportation in many industrial fields. However, strong
couplings and high nonlinearities increase difficulty of designing effective control methods …

Soft robots are deformable, compliant, and underactuated systems. During any task, due to
their enormous capability of body deformation, the relative degree may not be well-defined …

With the increasingly wide applications of underactuated systems, the necessary switching
actions in complex multiple-mode tasks may induce overlarge errors, chattering, or even …

Underactuated robot systems, due to their unique flexibility and economy, are widely used in
modern industry and intelligent manufacturing. However, their underactuated nature and …